CN113781603B - Track point generating method, device, computer equipment and computer storage medium - Google Patents

Abstract

The present disclosure provides a trajectory point generation method, device computer equipment, and computer storage medium, wherein the method includes: acquiring a curve to be drawn; intercepting each segment of the intercepted curve according to a preset pixel point intercepting range; comparing different Intercept the change of the azimuth angle difference corresponding to the curve to determine each inflection point corresponding to the curve; generate and display the trajectory point corresponding to the curve according to each determined inflection point. In this disclosed embodiment, by prioritizing the inflection points in the curve, it avoids the problem that in the process of sampling the curve according to the preset sampling interval, the inflection point is missed due to improper setting of the sampling interval, resulting in the inability to represent an accurate curve through the trajectory points. Therefore, the accuracy of the trajectory point characterization curve is improved; in addition, the accuracy of inflection point recognition is also improved.

Description

Track point generation method, device, computer equipment and computer storage medium

technical field

The present disclosure relates to the field of computer technology, and in particular, to a track point generation method, device, computer equipment, and computer storage medium.

Background technique

With the reform and development of the education system, it has become the main task of current education to cultivate students' all-round development of morality, intelligence, physique, art and labor; when cultivating students' art ability, for some students who have no art foundation, they can learn art through copying. The copying points in each line segment in the copying pictures for students to copy are generally drawn manually by the picture creators. In this way, when the copying pictures are more complicated, it may take a lot of time to complete the drawing of the copying points. less efficient.

In order to improve the drawing efficiency of the imitation points in the imitation pictures, automatic sampling can be used to determine the imitation points in the imitation pictures. Some more important points (for example, the inflection point of the curve in the copied picture) are not sampled, which leads to the inaccurate problem of the copied picture represented by the copied point.

Contents of the invention

Embodiments of the present disclosure at least provide a method and device for generating track points, a computer device, and a computer storage medium.

In a first aspect, an embodiment of the present disclosure provides a method for generating track points, including:

Get the curve to be drawn;

According to the preset pixel point interception range, intercept each section of the interception curve respectively; wherein, the pixel points between the interception curves of the adjacent sections of the interception overlap;

By comparing the changes of the azimuth difference values corresponding to the intercepted curves of different segments, each inflection point corresponding to the curve is determined; the azimuth difference value is the difference between the azimuth angles of different line segments in the intercepted curve;

According to each determined inflection point, generate and display the track point corresponding to the curve; the track point is used to instruct the user to draw the curve.

In a possible implementation manner, each segment of the interception curve is intercepted according to the preset pixel point interception range, including:

According to the preset pixel point clipping range, each pixel point on the curve is used as the clipping starting point in turn, and each clipping curve is clipped respectively.

In a possible implementation manner, the determination of each inflection point corresponding to the curve by comparing the change of the azimuth angle difference corresponding to different segments of the intercept curve includes:

By comparing the azimuth angle difference values corresponding to the interception curves of different segments, determine the first interception curve when the corresponding azimuth angle difference value increases from less than the set threshold value to greater than or equal to the set threshold value, and intercept the first interception curve A second interception curve intercepted later when the corresponding azimuth angle difference decreases from greater than the set threshold to less than or equal to the set threshold;

An inflection point corresponding to the curve is determined based on the first intercept curve and the second intercept curve.

In a possible implementation manner, the azimuth angle difference is determined according to the following steps:

For each segment of the interception curve, based on the azimuth angles corresponding to the front and rear half line segments corresponding to the segment of the interception curve, the azimuth angle difference corresponding to the segment of the interception curve is determined.

In a possible implementation manner, determining the first interception curve and the second interception curve includes:

If the azimuth angle difference corresponding to the current segment intercept curve is greater than or equal to the set threshold, and the azimuth angle difference corresponding to the previous segment intercept curve of the current segment intercept curve is less than the set threshold, then the current segment intercept curve is used as the first segment an intercepted curve;

If the azimuth angle difference corresponding to the current segment intercept curve is less than or equal to the set threshold, and the azimuth angle difference corresponding to the previous segment intercept curve of the current segment intercept curve is greater than the set threshold, then the current segment intercept curve is used as the first segment Two intercept curves.

In a possible implementation manner, the determining the inflection point corresponding to the curve based on the first interception curve and the second interception curve includes:

obtaining a first midpoint of the first intercept curve and a second midpoint of the second intercept curve;

Calculate a midpoint between the first midpoint and the second midpoint, and use the midpoint as one of the inflection points.

In a possible implementation manner, the generating and displaying the trajectory points corresponding to the curve according to each determined inflection point includes:

Based on each determined inflection point, the curve is divided into a plurality of sampling line segments; the inflection point is an endpoint of the sampling line segment;

Based on a preset sampling interval, a plurality of trajectory points are obtained by sampling from each of the sampling line segments; the plurality of trajectory points include inflection points in the curve;

A plurality of trajectory points respectively sampled in the plurality of sampling line segments are used as trajectory points corresponding to the curve.

In the second aspect, the embodiment of the present disclosure also provides a track point generation device, including:

Obtaining module, used to obtain the curve to be drawn;

The first processing module is used to intercept each segment of the interception curve according to the preset pixel point interception range; wherein, the pixel points between the intercepted adjacent segment interception curves overlap;

A determining module, configured to determine each inflection point corresponding to the curve by comparing the changes in the azimuth angle difference values corresponding to different segments of the intercepted curve; the azimuth angle difference value is the difference between the azimuth angles of different line segments in the intercepted curve;

The second processing module is configured to generate and display track points corresponding to the curve according to each determined inflection point; the track points are used to instruct the user to draw the curve.

In a possible implementation manner, the first processing module is specifically used to:

According to the preset pixel point clipping range, each pixel point on the curve is used as the clipping starting point in turn, and each clipping curve is clipped respectively.

In a possible implementation manner, when the determination module executes the determination of each inflection point corresponding to the curve by comparing the change of the azimuth angle difference corresponding to different interception curves, it is specifically used to:

By comparing the azimuth angle difference values corresponding to the interception curves of different segments, determine the first interception curve when the corresponding azimuth angle difference value increases from less than the set threshold value to greater than or equal to the set threshold value, and intercept the first interception curve A second interception curve intercepted later when the corresponding azimuth angle difference decreases from greater than the set threshold to less than or equal to the set threshold;

An inflection point corresponding to the curve is determined based on the first intercept curve and the second intercept curve.

In a possible implementation manner, the determination module determines the azimuth difference according to the following steps:

For each segment of the interception curve, based on the azimuth angles corresponding to the front and rear half line segments corresponding to the segment of the interception curve, the azimuth angle difference corresponding to the segment of the interception curve is determined.

In a possible implementation manner, when the determination module determines the first interception curve and the second interception curve, it is specifically used for:

If the azimuth angle difference corresponding to the current segment intercept curve is greater than or equal to the set threshold, and the azimuth angle difference corresponding to the previous segment intercept curve of the current segment intercept curve is less than the set threshold, then the current segment intercept curve is used as the first segment an intercepted curve;

If the azimuth angle difference corresponding to the current segment intercept curve is less than or equal to the set threshold, and the azimuth angle difference corresponding to the previous segment intercept curve of the current segment intercept curve is greater than the set threshold, then the current segment intercept curve is used as the first segment Two intercept curves.

In a possible implementation manner, when the determination module executes the determining the inflection point corresponding to the curve based on the first interception curve and the second interception curve, it is specifically configured to:

obtaining a first midpoint of the first intercept curve and a second midpoint of the second intercept curve;

Calculate a midpoint between the first midpoint and the second midpoint, and use the midpoint as one of the inflection points.

In a possible implementation manner, the second processing module is specifically configured to:

Based on each determined inflection point, the curve is divided into a plurality of sampling line segments; the inflection point is an endpoint of the sampling line segment;

Based on a preset sampling interval, a plurality of trajectory points are obtained by sampling from each of the sampling line segments; the plurality of trajectory points include inflection points in the curve;

A plurality of trajectory points respectively sampled in the plurality of sampling line segments are used as trajectory points corresponding to the curve.

In a third aspect, an optional implementation manner of the present disclosure further provides a computer device, including: a processor and a memory, the memory stores machine-readable instructions executable by the processor, and the processor is configured to execute the memory The machine-readable instructions stored in the computer, when the machine-readable instructions are executed by the processor, execute the steps of the method for generating track points as described in the above first aspect, or any possible implementation manner of the first aspect.

In the fourth aspect, an optional implementation manner of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the above-mentioned first aspect or the first aspect is executed. Steps in the method for generating trajectory points described in any possible implementation manner in one aspect.

In the trajectory point generation method provided by the embodiments of the present disclosure, each interception curve is intercepted according to the preset pixel point interception range, and each inflection point corresponding to the curve is determined by comparing the change of azimuth angle difference corresponding to different interception curves ; After each inflection point corresponding to the curve is determined, the trajectory point corresponding to the curve can be generated and displayed according to each determined inflection point, so that the user can be instructed to draw the curve through the trajectory point; here, by pre-determining the inflection point in the curve, avoiding In the process of sampling the curve according to the preset sampling interval, due to the improper setting of the sampling interval, the inflection point is missed, resulting in the problem that the accurate curve cannot be represented by the trajectory point, thereby improving the accuracy of the curve represented by the trajectory point.

In addition, in the embodiment of the present disclosure, each pixel point on the curve can be used as the interception starting point in turn to obtain several interception curves corresponding to the curve to be drawn (the pixel points between the interception curves overlap), and by comparing Changes in azimuth angle differences corresponding to the intercepted curves determine the turning changes between the intercepted curves, thereby determining each inflection point corresponding to the curve, which improves the accuracy of inflection point identification.

For the effect description of the above-mentioned track point generation device, computer equipment, and computer-readable storage medium, please refer to the description of the above-mentioned track point generation method, which will not be repeated here.

In order to make the above-mentioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments will be described in detail below together with the accompanying drawings.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present disclosure more clearly, the following will briefly introduce the accompanying drawings used in the embodiments. The accompanying drawings here are incorporated into the specification and constitute a part of the specification. The drawings show the embodiments consistent with the present disclosure, and are used together with the description to explain the technical solution of the present disclosure. It should be understood that the following drawings only show some embodiments of the present disclosure, and therefore should not be regarded as limiting the scope. For those skilled in the art, they can also make From these figures are obtained other related figures.

FIG. 1 shows a flowchart of a method for generating track points provided by an embodiment of the present disclosure;

FIG. 2 shows a schematic diagram of a curve to be drawn including multiple intercepted curves in the trajectory point generation method provided by an embodiment of the present disclosure;

FIG. 3 shows a schematic diagram of an interception curve indicating an azimuth angle difference in the trajectory point generation method provided by an embodiment of the present disclosure;

FIG. 4 shows a schematic diagram of a curve to be drawn indicating a first intercepted curve and a second intercepted curve in the track point generation method provided by an embodiment of the present disclosure;

FIG. 5 shows a schematic diagram of a curve to be drawn indicating an inflection point in the trajectory point generation method provided by an embodiment of the present disclosure;

FIG. 6 shows a schematic diagram of another curve to be drawn indicating an inflection point in the trajectory point generation method provided by an embodiment of the present disclosure;

FIG. 7 shows a schematic diagram of using multiple trajectory points to represent a curve to be drawn in the method for generating trajectory points provided by an embodiment of the present disclosure;

Fig. 8 shows a schematic diagram of a track point generation device provided by an embodiment of the present disclosure;

Fig. 9 shows a schematic diagram of a computer device provided by an embodiment of the present disclosure.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only It is a part of the embodiments of the present disclosure, but not all of them. The components of the disclosed embodiments generally described and illustrated herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the present disclosure is not intended to limit the scope of the claimed disclosure, but merely represents selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative effort shall fall within the protection scope of the present disclosure.

The defects in the above solutions are all the results obtained by the inventor after practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed by the present disclosure below for the above problems should be the result of the inventor Contributions made to this disclosure during the course of this disclosure.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In order to facilitate the understanding of this embodiment, a method for generating track points disclosed in the embodiments of the present disclosure is firstly introduced in detail. The execution subject of the method for generating track points provided by the embodiments of the present disclosure is generally a computer device with certain computing capabilities. The computer equipment includes, for example: a terminal device or a server or other processing equipment, and the terminal device may be a user equipment (User Equipment, UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (Personal Digital Assistant, PDA), handheld devices, computing devices, vehicle-mounted devices, wearable devices, etc. In some possible implementation manners, the method for generating track points may be implemented in a manner in which a processor invokes computer-readable instructions stored in a memory.

Referring to FIG. 1 , it is a flowchart of a track point generation method provided by an embodiment of the present disclosure. The track point generation method includes S101-S104, wherein:

S101. Obtain a curve to be drawn.

It should be noted that the track point generation method provided by the embodiments of the present disclosure can be applied to any scene where track lines need to be processed to generate track points used to indicate the track lines; Process any curve in the copying screen to generate track points for indicating the curve, and display these track points for students to copy, that is, curve drawing; it can also be applied in urban construction scenes, treat The planned route is processed, and the trajectory point used to indicate the planned route is generated, so as to plan the speed, acceleration and other information of the vehicle based on the trajectory point indicating the route to be planned; it can also be applied to the driving trajectory of vehicles or robots The scene of the research, in which the driving trajectory of the vehicle or robot can be processed, and the trajectory points used to indicate the driving trajectory can be generated, so as to control the vehicle based on the speed information, acceleration information, pose information, etc. corresponding to each trajectory point. Or the performance of the robot for further research and improvement.

Based on this, the curve to be drawn may include, but not limited to: any curve included in the copying scene, the route to be planned in the urban planning scene, and at least one of the driving route of the vehicle or robot; the present disclosure In the embodiment, the method for generating track points is applied to a copying scene, and the curve to be drawn includes any curve included in the copying screen in the copying scene as an example to describe in detail.

Subsequent to the above S101, the trajectory point generation method provided by the embodiment of the present disclosure further includes:

S102. According to the preset pixel point clipping range, clip each segment of the clipped curve respectively; wherein, the pixel points between the clipped curves of adjacent segments overlap.

In the embodiment of the present disclosure, in order to solve the conventional method of identifying inflection points in the prior art: the method of comparing the azimuth angle difference between two adjacent broken lines in the curve with the preset angle limit value, the determined inflection point in the curve For the problem of inaccurate inflection points, the curve to be drawn can be intercepted into several intercepted curves (the pixel points between the intercepted curves overlap), and then based on the following S103 by comparing the azimuth angle difference corresponding to each intercepted curve Change to determine each inflection point corresponding to the curve.

Here, the preset pixel point interception range may include, for example, 2m+1. Generally, in order to improve the accuracy of inflection point recognition, m is set to be a positive integer between 1 and 10; generally, the smaller m is, the higher the accuracy of inflection point recognition is; The specific preset pixel point interception range can be set according to actual needs, and no specific limitation is set here.

In addition, the accuracy of inflection point recognition is also related to the coincidence degree of pixels between the intercepted adjacent curves. Generally, the higher the pixel coincidence degree between the intercepted adjacent curves, the higher the accuracy of inflection point recognition. For example, each pixel is used as the starting point of interception to perform curve interception. At this time, only one pixel point between adjacent curves is different.

In specific implementation, each pixel point on the curve can be used as the starting point of interception according to the preset pixel point interception range, and each segment of the interception curve can be intercepted respectively; There is only one different pixel point between them, and the accuracy of inflection point recognition at this time is the highest.

Exemplarily, if m=3, the preset pixel point clipping range includes 7 pixel points; first, the starting pixel point a of the curve to be drawn is used as the clipping starting point, and 7 pixel points are used as the clipping length to determine the The interception curve a corresponding to the curve to be drawn; then the next pixel point b adjacent to the starting pixel point a of the curve to be drawn in the curve to be drawn is used as the interception starting point, and 7 pixels are taken as the interception length to determine The interception curve b corresponding to the curve to be drawn; then, the next pixel point c adjacent to the pixel point b in the curve to be drawn is used as the interception starting point, and the interception length is 7 pixels to determine the curve to be drawn The corresponding interception curve c; based on the above method, move one pixel point on the curve to be drawn in turn, and use 7 pixels as the interception length to intercept the curve until the end pixel point of the curve to be drawn is intercepted, In this way, the intercepted curves corresponding to the curve to be drawn are obtained; for example, if the curve to be drawn includes 21 pixels, then specifically, 7 pixels are used as the interception length to intercept the curve to be drawn The schematic diagram of can be shown in Figure 2, which shows the 21 pixel points contained in the curve to be drawn (that is, the starting pixel point a, the next pixel point b adjacent to the starting pixel point a, and the pixel point b adjacent to the pixel point The next pixel point c adjacent to point b, ..., the next pixel point t adjacent to pixel point s, the next pixel point u) adjacent to pixel point t, and the corresponding curve to be drawn 15 sections of interception curves (i.e. interception curve a, interception curve b, ..., interception curve o), only three sections of interception curves (i.e. interception curve a, interception curve b) in the 15 sections of interception curves are shown in Fig. 2 , interception curve o); wherein, interception curve a is composed of pixel point a, pixel point b, pixel point c, pixel point d, pixel point e, pixel point f, pixel point g; interception curve b is composed of pixel point b, pixel point Point c, pixel point d, pixel point e, pixel point f, pixel point g, pixel point h; interception curve o is composed of pixel point o, pixel point p, pixel point q, pixel point r, pixel point s, pixel point t, pixel point u.

Subsequent to the above S102, the track point generation method provided by the embodiment of the present disclosure further includes:

S103. Determine each inflection point corresponding to the curve by comparing changes in azimuth angle differences corresponding to different segments of the intercepted curve; the azimuth angle difference includes an azimuth difference between different line segments in the intercepted curve.

Wherein, the inflection point may include, but not limited to, the point connecting two segments with different bending directions in the curve, and the inflection point connecting two segments with a turning relationship in the curve; the azimuth includes: from the north direction line of a certain point, The horizontal angle between the clockwise direction and the target direction; here, the azimuth difference includes the azimuth difference between the two different line segments before and after the intercepted curve, for example, it may include but not limited to: intercept the two halves of the curve before and after (that is, with the midpoint of the interception curve as the boundary, the difference between the azimuth angles of the front and rear halves), the two different line segments before and after the interception curve (here, the two different line segments before and after the interception curve can be based on the interception curve The difference between the azimuth angles of the front and rear halves) is the non-midpoint in the boundary. For example, select a target point (may be a midpoint) in the interception curve, and calculate the included angle between the direction from the interception start point to the target point and the direction from the target point to the interception end point, as the azimuth.

Exemplarily, the azimuth angle difference corresponding to each segment of the interception curve can be determined by the following method: For each segment of the interception curve, based on the azimuths corresponding to the front and rear half line segments corresponding to the segment of the interception curve, determine the corresponding The azimuth difference of .

Specifically, for each interception curve, the midpoint of the interception curve is used as the boundary, the interception curve is divided into two halves, and the interception starting point in the interception curve is used as the starting point to calculate the value from the interception starting point to the interception curve The azimuth α of the line segment (i.e., the first half line segment) between the midpoints in the interception curve; at the same time, the midpoint in the interception curve is used as the starting point to calculate the line segment from the midpoint in the interception curve to the interception end point in the interception curve ( That is, the azimuth angle β of the second half of the line segment); the absolute value of the difference between the azimuth angle β minus the azimuth angle α is used as the azimuth angle difference corresponding to the intercept curve of this segment.

Exemplarily, if the interception curve is the interception curve a in FIG. 2 , the interception starting point of the interception curve a is the pixel point a, the midpoint of the interception curve a is the pixel point d, and the interception end point of the interception curve a is the pixel point g, then The first half line segment corresponding to the interception curve a is a line segment 1 between the pixel point a and the pixel point d, and the second half line segment corresponding to the interception curve a is a line segment 2 between the pixel point d and the pixel point g; , the azimuth α is the horizontal angle from the north direction line of the pixel point a to the line segment 1 in the clockwise direction; the azimuth β is the horizontal angle from the north direction line of the pixel point d to the line segment in the clockwise direction The horizontal angle between 2; the specific schematic diagram including the azimuth α and the azimuth β can be shown in Figure 3, which shows the interception curve a, line segment 1, line segment 2, and azimuth α, and the azimuth Angle β: the absolute value of the difference between the azimuth angle β minus the azimuth angle α in Fig. 3 is used as the azimuth angle difference γ corresponding to the segment interception curve, that is, γ=|β-α|.

In the specific implementation, after determining the azimuth angle difference corresponding to each segment of the interception curve, the change law corresponding to the azimuth angle difference corresponding to each segment of the interception curve (that is, when the interception curve gradually approaches the inflection point in the curve, the interception The azimuth angle difference corresponding to the curve increases gradually; when the intercepted curve gradually moves away from the inflection point in the curve, the azimuth angle difference corresponding to the intercepted curve gradually decreases), and the inflection point in the curve to be drawn is determined, and the specific description is as follows: by Comparing the azimuth difference values corresponding to the interception curves of different segments, determining the first interception curve when the corresponding azimuth difference value increases from less than the set threshold value to greater than or equal to the set threshold value, and the first interception curve intercepted after intercepting the first interception curve , the second interception curve when the corresponding azimuth angle difference decreases from greater than the set threshold to less than or equal to the set threshold; based on the first interception curve and the second interception curve, determine the corresponding inflection point of the curve.

Wherein, the set threshold can be the critical angle value of the azimuth angle difference set according to actual needs, and no specific limitation is made here; in implementation, the value of the set threshold can be adjusted to improve the inflection point identification. Accuracy; Generally, when the value of the set threshold is small, the accuracy of inflection point recognition is low; when the value of the set threshold is relatively large, the accuracy of inflection point recognition is relatively high; for example, when the set threshold is 5 degrees, the Take the interception curve when all the azimuth angle differences increase from less than 5 degrees to greater than or equal to 5 degrees as the first interception curve. At this time, the first interception curve includes the degree of curvature increased by greater than or equal to 5 degrees but does not include the inflection point and the interception curve when all the azimuth angle differences are reduced from greater than 5 degrees to less than or equal to 5 degrees will be used as the second interception curve. At this time, the degree of curvature in the second interception curve is reduced by greater than or equal to 5 In this way, based on the first interception curve and the second interception curve, when performing inflection point identification, points that are not inflection points will also be identified, resulting in low accuracy of inflection point identification; therefore, it needs to be based on the actual It is necessary to set at least one of the bending degree of the curve and a more appropriate setting threshold to more accurately identify the inflection point in the curve and improve the accuracy of inflection point identification.

In a specific implementation, after determining the azimuth angle difference corresponding to each section of the interception curve, the first interception curve and the second interception curve can be determined according to the azimuth angle difference corresponding to each section of the interception curve and the threshold value, specifically described As follows: if the azimuth angle difference corresponding to the intercept curve of the current segment is greater than or equal to the set threshold, and the azimuth angle difference corresponding to the previous intercept curve of the current segment intercept curve is less than the set threshold, then the intercept curve of the current segment is used as the first threshold. An interception curve; if the azimuth angle difference corresponding to the current segment interception curve is less than or equal to the set threshold, and the azimuth angle difference corresponding to the previous segment interception curve of the current segment interception curve is greater than the set threshold, then the current segment interception curve as the second intercept curve.

Exemplarily, each section of the interception curve is used as the current section of the interception curve, and the azimuth angle difference corresponding to the current section of the interception curve is compared with the set threshold, and when it is determined that the azimuth angle difference corresponding to the current section of the interception curve is greater than or equal to the set threshold threshold, and the azimuth angle difference corresponding to the previous section of the interception curve of the current section is less than the set threshold, the current section interception curve is used as the first interception curve; or equal to the set threshold, and the azimuth angle difference corresponding to the previous intercept curve of the current segment intercept curve is greater than the set threshold value, the current segment intercept curve is used as the second intercept curve; if the display interface of each segment intercept curve As shown in Figure 2, the specific first interception curve is the interception curve d (that is, the interception curve composed of pixel point d, pixel point e, pixel point f, pixel point g, pixel point h, pixel point i, pixel point j) curve), the second interception curve is interception curve h (an interception curve composed of pixel point h, pixel point i, pixel point j, pixel point k, pixel point l, pixel point m, and pixel point n), specifically indicating The schematic diagrams of the first interception curve and the second interception curve are shown in FIG. 4 .

After determining the first interception curve and the second interception curve, the inflection point corresponding to the curve can be determined based on the determined first interception curve and the second interception curve. The specific description is as follows: the first midpoint and the second Intercepts the second midpoint of the curve; calculates the midpoint between the first midpoint and the second midpoint as an inflection point.

Exemplarily, if the determined first interception curve and the second interception curve are as shown in Figure 4, then determine the first midpoint of the first interception curve (i.e. the midpoint of the interception curve d): the pixel point g of the curve; determine The second midpoint of the second intercepted curve (i.e. the midpoint of the intercepted curve h): the pixel point k of the curve; the first midpoint (i.e. the pixel point g of the curve) and the second midpoint (the pixel point k of the curve) The midpoint of the formed line segment: the pixel point i of the curve, which is used as the inflection point of the curve, and a schematic diagram specifically indicating the inflection point of the curve is shown in FIG. 5 .

Subsequent to the above S103, the trajectory point generation method provided by the embodiment of the present disclosure further includes:

S104. Generate and display track points corresponding to the curve according to each determined inflection point; the track points are used to instruct the user to draw the curve.

In the specific implementation, in order to avoid the inflection point in the curve that cannot be identified due to improper sampling interval when sampling the curve in the copying scene, resulting in the inability to accurately represent the image to be copied through the sampling points, Then, based on the specific implementation methods shown in the embodiments S101-S103 of the present disclosure, the inflection points corresponding to the curve can be firstly determined, and then the trajectory points corresponding to the curve can be generated according to the determined inflection points. The specific description is as follows: Based on the determined inflection points The inflection point divides the curve into multiple sampling line segments; based on the preset sampling interval, multiple trajectory points are sampled from each sampling line segment; the multiple trajectory points sampled in multiple sampling line segments are used as the corresponding trajectory points of the curve .

Wherein, each of the plurality of sampling line segments has an inflection point as an end point; the plurality of trajectory points obtained by sampling include an inflection point in the curve.

Exemplarily, if the curve to be drawn is as shown in Figure 6, if the preset pixel point interception range includes: 7 pixel points, and the threshold is set to 30 degrees, then based on the specific details shown in S101-S103 in the embodiments of the present disclosure, Embodiment, the determined inflection point is shown in Figure 6, and 11 inflection points are shown in Figure 6. After determining the inflection point corresponding to the curve to be drawn in Figure 6, the inflection point and the starting point of the curve to be drawn can be and the end point, respectively as the endpoints of the sampling line segment, divide the curve to be drawn into 12 sampling line segments; then based on the preset sampling interval: 10 pixels, sample the curve to be drawn to determine each sampling line segment multiple track points (wherein the track point includes an inflection point), and display multiple track points, the specific display interface may be as shown in FIG. 7 .

In the embodiment of the present disclosure, each section of the interception curve is intercepted respectively according to the preset pixel point interception range, and by comparing the change of the azimuth angle difference corresponding to the different sections of the interception curve, each inflection point corresponding to the curve is determined; After each inflection point, the trajectory points corresponding to the curve can be generated and displayed according to each determined inflection point, so that the user can be instructed to draw the curve through the trajectory points; In the process of sampling the curve, due to the improper setting of the sampling interval, the inflection point is missed, resulting in the problem that the accurate curve cannot be represented by the trajectory point, thereby improving the accuracy of the curve represented by the trajectory point.

In addition, in the embodiment of the present disclosure, each pixel point on the curve can be used as the interception starting point in turn to obtain several interception curves corresponding to the curve to be drawn (the pixel points between the interception curves overlap), and by comparing Changes in azimuth angle differences corresponding to the intercepted curves determine the turning changes between the intercepted curves, thereby determining each inflection point corresponding to the curve, which improves the accuracy of inflection point identification.

Those skilled in the art can understand that in the above method of specific implementation, the writing order of each step does not mean a strict execution order and constitutes any limitation on the implementation process. The specific execution order of each step should be based on its function and possible The inner logic is OK.

Based on the same inventive concept, the embodiment of the present disclosure also provides a track point generation device corresponding to the track point generation method. Since the problem-solving principle of the device in the embodiment of the present disclosure is similar to the above-mentioned track point generation method of the embodiment of the present disclosure, therefore For the implementation of the device, reference may be made to the implementation of the method, and repeated descriptions will not be repeated.

Referring to FIG. 8 , it is a schematic diagram of a track point generation device 800 provided by an embodiment of the present disclosure, and the track point generation device includes: an acquisition module 801 , a first processing module 802 , a determination module 803 and a second processing module 804 ;in:

Obtaining module 801, configured to obtain the curve to be drawn.

The first processing module 802 is configured to respectively intercept each section of the interception curve according to the preset pixel point interception range; wherein, the pixel points between the intercepted adjacent sections of the interception curves overlap.

The determining module 803 is configured to determine each inflection point corresponding to the curve by comparing the change of the azimuth angle difference corresponding to different segments of the intercepted curve; the azimuth angle difference value is the difference between the azimuth angles of different line segments in the intercepted curve .

The second processing module 804 is configured to generate and display track points corresponding to the curve according to each determined inflection point; the track points are used to instruct the user to draw the curve.

In a possible implementation manner, the first processing module 802 is specifically configured to: according to the preset pixel point clipping range, sequence the Each pixel point on the curve is used as the starting point of interception, and each segment of the interception curve is intercepted respectively.

In a possible implementation manner, when the determination module 803 executes the step of determining each inflection point corresponding to the curve by comparing the change of the azimuth angle difference corresponding to the intercepted curves of different segments, it is specifically used to: compare the intercepted curves of different segments The azimuth angle difference value corresponding to the curve, determine the first interception curve when the corresponding azimuth angle difference value increases from less than the set threshold value to greater than or equal to the set threshold value, and the intercepted, corresponding The second interception curve when the azimuth angle difference decreases from greater than the set threshold to less than or equal to the set threshold; based on the first interception curve and the second interception curve, determine the corresponding inflection point of the curve.

In a possible implementation manner, the determination module 803 determines the azimuth angle difference according to the following steps: for each section of the interception curve, based on the azimuths corresponding to the front and rear half line segments corresponding to the section of the interception curve, determine the section of the interception curve The azimuth angle difference corresponding to the curve.

In a possible implementation manner, when the determining module 803 determines the first interception curve and the second interception curve, it is specifically used for: if the azimuth angle difference corresponding to the current segment interception curve is greater than or equal to the set threshold, and the The azimuth angle difference corresponding to the last section interception curve of the current section interception curve is less than the set threshold, then the current section interception curve is used as the first interception curve; if the azimuth angle difference corresponding to the current section interception curve is less than or equal to the setting threshold, and the azimuth angle difference corresponding to the previous segment of the intercepted curve of the current segment is greater than the set threshold, then the intercepted curve of the current segment is used as the second intercepted curve.

In a possible implementation manner, the determining module 803 is specifically configured to: obtain the first interception curve when performing the determination of the inflection point corresponding to the curve based on the first interception curve and the second interception curve The first midpoint of the curve and the second midpoint of the second intercepted curve; calculating the midpoint between the first midpoint and the second midpoint, and using the midpoint as one of the inflection points.

In a possible implementation manner, when the second processing module 804 executes the generating and displaying the trajectory points corresponding to the curve according to the determined inflection points, it is specifically configured to: based on the determined inflection points, convert the curve to Divided into a plurality of sampling line segments; the inflection point is an endpoint of the sampling line segment; based on a preset sampling interval, a plurality of trajectory points are sampled from each of the sampling line segments; the plurality of trajectory points include an inflection point in the curve; A plurality of trajectory points respectively sampled in the plurality of sampling line segments are used as trajectory points corresponding to the curve.

In the embodiment of the present disclosure, each section of the interception curve is intercepted respectively according to the preset pixel point interception range, and by comparing the change of the azimuth angle difference corresponding to the different sections of the interception curve, each inflection point corresponding to the curve is determined; After each inflection point, the trajectory points corresponding to the curve can be generated and displayed according to each determined inflection point, so that the user can be instructed to draw the curve through the trajectory points; In the process of sampling the curve, due to the improper setting of the sampling interval, the inflection point is missed, resulting in the problem that the accurate curve cannot be represented by the trajectory point, thereby improving the accuracy of the curve represented by the trajectory point.

In addition, in the embodiment of the present disclosure, each pixel point on the curve can be used as the interception starting point in turn to obtain several interception curves corresponding to the curve to be drawn (the pixel points between the interception curves overlap), and by comparing Changes in azimuth angle differences corresponding to the intercepted curves determine the turning changes between the intercepted curves, thereby determining each inflection point corresponding to the curve, which improves the accuracy of inflection point recognition.

For the description of the processing flow of each module in the device and the interaction flow between the modules, reference may be made to the relevant description in the above method embodiment, and details will not be described here.

Based on the same technical idea, the embodiment of the present application also provides a computer device. Referring to FIG. 9 , it is a schematic structural diagram of a computer device 900 provided by an embodiment of the present application, including a processor 901 , a memory 902 , and a bus 903 . Among them, the memory 902 is used to store execution instructions, including a memory 9021 and an external memory 9022; the memory 9021 here is also called an internal memory, and is used to temporarily store calculation data in the processor 901 and exchange data with an external memory 9022 such as a hard disk. The processor 901 exchanges data with the external memory 9022 through the memory 9021. When the computer device 900 is running, the processor 901 communicates with the memory 902 through the bus 903, so that the processor 901 executes the following instructions:

Obtain the curve to be drawn; intercept each segment of the interception curve according to the preset pixel point interception range; wherein, the pixel points between the intercepted adjacent segments of the intercepted curves overlap; by comparing the azimuth angle difference corresponding to the intercepted curves of different segments value change, determine each inflection point corresponding to the curve; the azimuth angle difference is the difference between the azimuth angles of different line segments in the intercepted curve; generate and display the trajectory point corresponding to the curve according to each determined inflection point ; The track point is used to instruct the user to draw a curve.

Wherein, for the specific processing flow of the processor 901, reference may be made to the descriptions in the foregoing method embodiments, and details are not repeated here.

Embodiments of the present disclosure further provide a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, the steps of the method for generating track points described in the foregoing method embodiments are executed. Wherein, the storage medium may be a volatile or non-volatile computer-readable storage medium.

The embodiment of the present disclosure also provides a computer program product, the computer program product carries a program code, and the instructions included in the program code can be used to execute the steps of the track point generation method described in the above method embodiment, for details, please refer to the above The method embodiment will not be repeated here.

Wherein, the above-mentioned computer program product may be specifically implemented by means of hardware, software or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium. In another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), etc. wait.

Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described system and device can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here. In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.

If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present disclosure. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, and various media capable of storing program codes.

Finally, it should be noted that: the above-mentioned embodiments are only specific implementations of the present disclosure, and are used to illustrate the technical solutions of the present disclosure, rather than limit them, and the protection scope of the present disclosure is not limited thereto, although referring to the aforementioned The embodiments have described the present disclosure in detail, and those skilled in the art should understand that any person familiar with the technical field can still modify the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present disclosure Changes can be easily imagined, or equivalent replacements can be made to some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in this disclosure. within the scope of protection. Therefore, the protection scope of the present disclosure should be defined by the protection scope of the claims.

Claims (9)

1. A track point generating method, characterized in that, comprising: Get the curve to be drawn; According to the preset pixel point interception range, intercept each section of the interception curve respectively; wherein, the pixel points between the interception curves of the adjacent sections of the interception overlap; By comparing the changes in the azimuth angle difference values corresponding to different segments of the intercept curves, determine the respective inflection points corresponding to the curves; the azimuth angle difference values are the difference in azimuth angles of different line segments in the intercept curves; wherein, by comparing different The azimuth angle difference corresponding to the section interception curve, determine the first interception curve when the corresponding azimuth angle difference increases from less than the set threshold to greater than or equal to the set threshold, and intercepted after the first interception curve is intercepted , the second interception curve when the corresponding azimuth angle difference decreases from greater than the set threshold to less than or equal to the set threshold; based on the first interception curve and the second interception curve, determine the inflection point corresponding to the curve ; According to each determined inflection point, generate and display the track point corresponding to the curve; the track point is used to instruct the user to draw the curve. 2. The trajectory point generation method according to claim 1, characterized in that, according to the preset pixel point interception range, each section interception curve is intercepted respectively, comprising: According to the preset pixel point clipping range, each pixel point on the curve is used as the clipping starting point in turn, and each clipping curve is clipped respectively. 3. according to the described trajectory point generation method of claim 1, it is characterized in that, determine described azimuth difference value according to the following steps: For each segment of the interception curve, based on the azimuths corresponding to the two preceding and subsequent line segments corresponding to the segment of the interception curve, the azimuth angle difference corresponding to the segment of the interception curve is determined. 4. The trajectory point generation method according to claim 1, wherein determining the first interception curve and the second interception curve comprises: If the azimuth angle difference corresponding to the current segment intercept curve is greater than or equal to the set threshold, and the azimuth angle difference corresponding to the previous segment intercept curve of the current segment intercept curve is less than the set threshold, then the current segment intercept curve is used as the first segment an intercepted curve; If the azimuth angle difference corresponding to the current segment intercept curve is less than or equal to the set threshold, and the azimuth angle difference corresponding to the previous segment intercept curve of the current segment intercept curve is greater than the set threshold, then the current segment intercept curve is used as the first segment Two intercept curves. 5. The trajectory point generation method according to claim 1, wherein said determining the corresponding inflection point of said curve based on said first intercepted curve and said second intercepted curve comprises: obtaining a first midpoint of the first intercept curve and a second midpoint of the second intercept curve; Calculate a midpoint between the first midpoint and the second midpoint, and use the midpoint as one of the inflection points. 6. The track point generating method according to claim 1, wherein said generating and displaying track points corresponding to said curve according to each determined inflection point comprises: Based on each determined inflection point, the curve is divided into a plurality of sampling line segments; the inflection point is an endpoint of the sampling line segment; Based on a preset sampling interval, a plurality of trajectory points are obtained by sampling from each of the sampling line segments; the plurality of trajectory points include inflection points in the curve; A plurality of trajectory points respectively sampled in the plurality of sampling line segments are used as trajectory points corresponding to the curve. 7. A track point generating device, characterized in that, comprising: Obtaining module, used to obtain the curve to be drawn; The first processing module is used to intercept each segment of the interception curve according to the preset pixel point interception range; wherein, the pixel points between the intercepted adjacent segment interception curves overlap; A determining module, configured to determine each inflection point corresponding to the curve by comparing the changes in the azimuth angle difference values corresponding to different segments of the intercepted curve; the azimuth angle difference value is the difference between the azimuth angles of different line segments in the intercepted curve; Wherein, by comparing the azimuth angle difference values corresponding to the interception curves of different segments, it is determined that the first interception curve when the corresponding azimuth angle difference value increases from less than the set threshold to greater than or equal to the set threshold, and when intercepting the first A second intercepted curve intercepted after the intercepted curve and corresponding azimuth angle difference decreases from greater than the set threshold to less than or equal to the set threshold; based on the first intercepted curve and the second intercepted curve, determine the The inflection point corresponding to the above curve; The second processing module is configured to generate and display track points corresponding to the curve according to each determined inflection point; the track points are used to instruct the user to draw the curve. 8. A computer device, comprising: a processor and a memory, the memory stores machine-readable instructions executable by the processor, and the processor is configured to execute the machine-readable instructions stored in the memory Instructions, when the machine-readable instructions are executed by the processor, the processor executes the steps of the track point generating method according to any one of claims 1 to 6. 9. A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is run by a computer device, the computer device executes any one of claims 1 to 6. The steps of the trajectory point generation method described in the item.