Target display method and readable storage medium

Abstract

This invention discloses a target display method and a readable storage medium, belonging to the field of medical image processing. The target display method includes the following steps: Step S1, constructing at least one projection surface based on the effective field of view of a camera; Step S2, obtaining the position information of the target's projection on the at least one projection surface, and displaying the target in a user interface based on the position information. The target display method of this invention allows for the simple, intuitive, and effective display of the target's position within the camera's effective field of view.

Description

Technical Field

[0001] This invention relates to the field of medical image processing, and in particular to a target display method and a readable storage medium. Background Technology

[0002] During transcranial magnetic stimulation (TMS) therapy, to accurately locate the target in the brain, a camera (e.g., an infrared optical positioning camera) is needed to identify and track the spatial position of targets such as the patient's head, stimulation coils, and calibration guns. However, any camera has an effective field of view—a spatial area that can be accurately located. If the tracked target is close to or outside the boundary of this area, the stability and accuracy of optical positioning will be affected, or even impossible to locate the tracked target. Therefore, relevant positioning products require the assistance of software visualization, allowing users to see the relative position of the tracked target within the camera's field of view on a screen. This allows users to keep the tracked target in the most stable central area within the field of view.

[0003] In practice, the spatial position of a target can be displayed using a combination of a 3D perspective view and a three-dimensional orthogonal mapping. However, this method requires repeatedly rotating the 3D perspective view, otherwise it is difficult for users to directly see whether the target has exceeded the boundary. Moreover, although the three-dimensional orthogonal mapping theoretically contains all coordinate information, it is not conducive to users' intuitive and quick understanding of whether the target is already in a stable region. Summary of the Invention

[0004] To address at least one of the aforementioned problems and deficiencies in the prior art, embodiments of the present invention provide a target display method and a readable storage medium. The target display method and readable storage medium of the present invention allow for the simple, intuitive, and effective display of the position of a target within the effective field of view of a camera.

[0005] One object of the present invention is to provide a target display method.

[0006] Another object of the present invention is to provide a readable storage medium.

[0007] According to one aspect of the present invention, a target display method is provided, the target display method comprising the following steps:

[0008] Step S1: Construct at least one projection surface based on the camera's effective field of view.

[0009] Step S2 obtains the position information of the target's projection on the at least one projection plane, and displays the target on the user interface based on the position information.

[0010] According to another aspect of the present invention, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the target display method described in any of the above embodiments.

[0011] The target display method and readable storage medium according to the present invention have at least one of the following advantages:

[0012] (1) The target display method and readable storage medium of the present invention allow the position of the target in the effective field of view of the camera to be displayed in a simple and effective manner, thereby making it easier for users to understand whether the target is in a stable area;

[0013] (2) The target display method and readable storage medium of the present invention allow the position of the target within the effective field of view of the camera to be displayed with fewer views, thereby facilitating the user to quickly observe the target;

[0014] (3) The target display method and readable storage medium of the present invention allow the position of the target within the effective field of view of the camera to be displayed in a two-dimensional view, thereby facilitating the user to observe the target intuitively. Attached Figure Description

[0015] These and / or other aspects and advantages of the present invention will become apparent and readily understood from the following description of preferred embodiments taken in conjunction with the accompanying drawings, in which:

[0016] Figure 1 A flowchart of a target display method according to an embodiment of the present invention is shown;

[0017] Figure 2 It shows Figure 1 The first projection plane in at least one of the projection planes shown;

[0018] Figure 3 It shows Figure 1 The projections of the target shown are in the XOZ and YOZ planes of the spatial coordinate system, respectively.

[0019] Figure 4A An embodiment according to the invention is shown.

[0020] The example is the first graphic used to display the target;

[0021] Figure 4B A first graphic for displaying a target is shown according to another embodiment of the present invention;

[0022] Figure 5A A second graphic for displaying a target according to an embodiment of the present invention is shown;

[0023] Figure 5BA second graphic for displaying a target is shown according to another embodiment of the present invention. Detailed Implementation

[0024] The technical solution of the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. In this specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall inventive concept of the present invention and should not be construed as a limitation thereof.

[0025] In embodiments of the present invention, a target display method is provided. For example... Figure 1 As shown, the target display method includes the following steps:

[0026] Step S1: Construct at least one projection surface based on the camera's effective field of view.

[0027] Step S2 obtains the position information of the target's projection on the at least one projection plane, and displays the target on the user interface based on the position information.

[0028] The target display method of the present invention obtains the position information of the target in a projection surface constructed based on the effective field of view area. This position information reflects the situation of the target within the effective field of view area of ​​the camera (preferably, an optical positioning camera). Based on this position information, the target is displayed in the user interface. Therefore, the target display method of the present invention allows the relative position of the target within the effective field of view area of ​​the camera to be displayed in a simple and effective manner, thereby facilitating the user's understanding of the target's position within the effective field of view area and whether the target is already in a stable area.

[0029] In one example, the field of view of the optical positioning camera can be calculated and determined based on the parameters of a commercially available optical positioning camera (e.g., chip size, focal length, etc.). Specifically, the calculated maximum shooting distance of the optical positioning camera is L. The calculated field of view angle of the optical positioning camera is α. The field of view angle is the angle formed by the two edges of the maximum range through which the image of the target object can pass through the lens, with the lens of the optical positioning camera as the vertex. The field of view angle can be at least one of a horizontal field of view angle, a vertical field of view angle, and a diagonal field of view angle, preferably a horizontal field of view angle and / or a vertical field of view angle.

[0030] In one example, the effective field of view (FLP) of the optical positioning camera can be selected from the calculated and determined FLP area according to the user's needs, so that the user can always clearly and accurately observe the target within the FLP area. If the distance between the optical positioning camera and the target is too close or too far, the target cannot be accurately displayed on the user interface, thus affecting the stability and accuracy of optical positioning. Therefore, the user can select an effective FLP from the calculated and determined FLP area as needed (e.g., to ensure the stability and accuracy of optical positioning). The basic shape of this area is a spherical cone. Specifically, the user determines a first shooting distance L1 and a second shooting distance L2, as well as a field of view β. The first shooting distance L1 is the closest shooting distance that meets the requirements of stability and accuracy of optical positioning; the second shooting distance L2 is the farthest shooting distance that meets the requirements of stability and accuracy of optical positioning; and the field of view β is the angle formed by the two edges of the target image that can pass through the lens to the maximum extent required to meet the requirements of stability and accuracy of optical positioning. Therefore, the effective field of view selected by the optical positioning camera is the area bounded by the shooting distance range of the optical positioning camera between L1 and L2 and the field of view angle β (where 0≤L1). <L2≤L,0<β≤α)。

[0031] In one example, in step S1, a first projection surface among the at least one projection surface is constructed based on the effective field of view of the optical positioning camera. For example... Figure 2As shown, the first projection surface is a projection surface (i.e., a projection plane) formed by rotating the arc edge AB of a sector AOB around one of its edges OB as the axis of rotation. The sector AOB is centered at the optical positioning camera. The arc length of the sector AOB is R, i.e., the arc length of the arc edge AB is R. The sector AOB has a central angle J, and the angle of the central angle J is less than or equal to half the angle of the field of view α of the optical positioning camera. The field of view α of the optical positioning camera can be calculated and determined based on the parameters of the optical positioning camera. In one example, the field of view α can be at least one of a horizontal field of view, a vertical field of view, and a diagonal field of view, preferably a horizontal field of view and / or a vertical field of view. When the effective field of view of the optical positioning camera is the calculated and determined field of view area, the angle of the central angle J is equal to half the angle of the field of view α of the optical positioning camera. When the effective field of view of the optical positioning camera is the selected field of view area, the angle of the central angle J is equal to half the angle of the field of view β of the selected field of view area. The radius r of the sector-shaped AOB is less than or equal to the value obtained by spatial transformation Q (e.g., the first transformation matrix) of the optical positioning camera's maximum shooting distance L. When the effective field of view of the optical positioning camera is the calculated and determined field of view area, the radius r of the sector-shaped AOB is equal to the value obtained by spatial transformation Q of the optical positioning camera's maximum shooting distance L. When the effective field of view of the optical positioning camera is the aforementioned selected field of view area, the radius r of the sector-shaped AOB is less than the value obtained by spatial transformation Q of the optical positioning camera's maximum shooting distance L.

[0032] Combination Figure 2 and Figure 3 As shown, step S2 further includes:

[0033] The target is projected onto the first projection surface via a central projection centered on the optical positioning camera;

[0034] Construct a spatial rectangular coordinate system O-XYZ with the optical positioning camera as the origin O and the rotation axis as the Z axis;

[0035] Based on the target's coordinates (x0, y0, z0) in the spatial rectangular coordinate system O-XYZ, obtain the first angle α between the projection of the projection line between the target and the camera (i.e., the line connecting the target and the camera) onto the XOZ plane in the spatial rectangular coordinate system O-XYZ and the rotation axis (i.e., the Z-axis). x The second angle A between the projection of the projection line onto the YOZ plane in the spatial rectangular coordinate system O-XYZ and the rotation axis. y ;

[0036] According to the first included angle A xThe first proportional relationship P between the central angle J of the sector AOB and the sector AOB x (that is, P) x =A x / J), second included angle A y The second proportional relationship P between the central angle J of the sector AOB and the sector AOB y (that is, P) Y =A y The transformation information of the target on the first projection plane is obtained by using the arc length R of the sector AOB ( / J) and the transformation information, and the target is mapped and displayed in the first graphic in the user interface.

[0037] In one example, the origin O of the spatial rectangular coordinate system O-XYZ is the center of the sector. Of course, those skilled in the art can design the center of the sector to be any point in the spatial rectangular coordinate system, that is, the optical positioning camera to be any point in the spatial rectangular coordinate system, for example, any point on the Z-axis of the spatial rectangular coordinate system O-XYZ.

[0038] In embodiments of the present invention, the target display information is obtained based on the conversion information, which is generated based on the proportional relationship between the first included angle, the second included angle, and the central angle, i.e., based on the first proportional relationship P. x Second proportional relationship P y This process generates information that establishes a relationship between the displayed information and the offset angle of the target from the centerline of the field of view (e.g., the angle bisector of the vertical field of view of an optical positioning camera). Therefore, the displayed information accurately reflects the offset angle of the target from the centerline of the field of view, allowing users to determine the degree of deviation of the target within the effective field of view based on its position information on the first graphic. This facilitates a simple and intuitive display of the target's relative position within the effective field of view.

[0039] Furthermore, the method for obtaining the transformation information of the target on the first projection plane includes the following steps:

[0040] According to the first proportional relationship P x And the arc length R, to obtain the first arc length x1 on the first arc line of the projection of the target on the sector AOB in the XOZ plane (i.e., x1 = R × P). x =R×A x / J);

[0041] According to the second proportional relationship P y And the arc length R, to obtain the second arc length y1 on the second arc line of the projection of the target on the sector AOB in the YOZ plane (i.e., y1 = R × P). y =R×A y / J);

[0042] The conversion information includes the first arc length x1 and the second arc length y1.

[0043] In an embodiment of the present invention, considering that the central angle J is proportional to the arc length R, the angle information (i.e., the offset angle) is converted into arc length information during the projection process, and position information is generated based on the arc length information. Therefore, the position information of the target on the first graphic reflects the degree of deviation of the target from the center line of the field of view.

[0044] Furthermore, the method for mapping and displaying the target in a first graph in the user interface includes the following steps:

[0045] In the spatial rectangular coordinate system O-XYZ, the XOY plane is flattened with the origin O as the center in a way that does not deform the first projection plane, so as to obtain the flattened first projection plane.

[0046] The first arc length x1 is set as the coordinate value x' of the target on the X-axis of the XOY plane in the first projection plane after flattening, and the second arc length y1 is set as the coordinate value y' of the target on the Y-axis in the first projection plane after flattening; a rectangular coordinate system MON is constructed in the first graphic with its center as the origin, and the rectangular coordinate system MON is obtained by the XOY plane through spatial transformation S;

[0047] The coordinate value x' is transformed by spatial transformation S (e.g., by a second transformation matrix) to the first coordinate value of the target on the M axis in the Cartesian coordinate system MON, and the coordinate value y' is transformed by spatial transformation S to the second coordinate value of the target on the N axis in the Cartesian coordinate system MON.

[0048] The target's position information in the first graphic is obtained based on the first coordinate value and the second coordinate value, and the target is displayed in the first graphic based on the position information in the first graphic.

[0049] In one example, the first transformation matrix and the second transformation matrix can be the same transformation matrix or different transformation matrices, as long as they enable those skilled in the art to transform the space of the O-XYZ coordinate system to the space of the computer graphical interface, the space of the display area in the interface, or the space of the graphics displayed in the display area.

[0050] In one example, the method without any deformation is to align the center of the first projection plane with the origin O of the XOY plane, and then straighten all the curves that form the first projection plane into line segments with the origin O as the center. The length of the line segment is in a 1:1 ratio with the length of the corresponding curve, and the direction of the line segment is the same as the tangent direction of the corresponding curve.

[0051] In one example, the target's position information in the first graphic is the coordinate point (m, n) in the Cartesian coordinate system MON, and this coordinate point is displayed in the first graphic. |m| = x1, |n| = y1. The sign of coordinate m is the same as the sign of x0 in the target's spatial Cartesian coordinate system O-XYZ. The sign of coordinate n is the same as the sign of y0 in the target's spatial Cartesian coordinate system O-XYZ. The signs of the coordinate points (m, n) can intuitively reflect the direction in which the target deviates from the center line of the field of view. For example, when both coordinate points (m, n) are positive, it indicates that the target deviates to the upper right of the center line of the field of view.

[0052] The position coordinates on the M-axis and N-axis in the position information can accurately reflect the degree of deviation of the target from the center line of the field of view, and thus reflect the relationship between the target and the effective field of view boundary (e.g., upper and lower boundaries, left and right boundaries, etc.) of the optical positioning camera.

[0053] In one example, the user interface is designed with a first graphic for displaying a target. The relationship between the target and the boundary of the effective field of view (FLP) of the optical positioning camera is determined based on the target displayed on the first graphic. When the target's position is displayed near the boundary of the first graphic (i.e., the projected position of the target is close to the boundary of the first graphic), the target is determined to be located at the boundary of the FLP, meaning the target deviates significantly from the center line of the FLP. When the target's position is displayed in the center area of ​​the first graphic, the target is determined to be located in the center area of ​​the FLP (e.g., the central field of view), meaning the target is close to the center line of the FLP. Those skilled in the art will understand that the range of the center area of ​​the first graphic can be determined according to actual needs. For example, Figure 4A and 4B The first graph shows target a and target b. (See figure.) Figure 4B As shown, compared to target b, target a is closer to the boundary of the effective field of view, thus target a is further away from the optical positioning camera.

[0054] In one example, the first graphic may include a circle or an ellipse to display the target's positional information in a two-dimensional format. Compared to a three-dimensional graphic (such as a 3D model), a two-dimensional graphic makes it easier for the user to observe the relative position of the displayed target within the effective field of view. Figure 4A The first graphic 10 is shown as a circle. Figure 4B The first figure 10 is shown as an ellipse.

[0055] Furthermore, the circle is the first projected surface after being flattened, such as... Figure 4AAs shown. For example, the radius of the circle is the arc length R of the sector AOB. That is, the circle is a two-dimensional figure formed by straightening and flattening all the curves that form the first projection surface with the center of the first projection surface as the center without any deformation.

[0056] The ellipse is a shape obtained based on the circular transformation, such as... Figure 4B As shown. From a visual perspective, an elliptical projection surface is more effective than a circular projection surface in displaying the degree of deviation of a target from the center line of the field of view. For example, the semi-minor axis of the ellipse is the arc length R of the sector AOB, and the length of the semi-major axis is greater than the arc length R of the sector AOB; as another example, the semi-minor axis of the ellipse is less than the arc length R of the sector AOB, and the length of the semi-major axis is equal to the arc length R of the sector AOB.

[0057] In one example, the semi-minor axis coincides with the N-axis in the Cartesian coordinate system MON. When |n| is less than the length of the semi-minor axis, the target's coordinate m on the M-axis is obtained by scaling the first coordinate value according to the ratio of the semi-major axis to the radius of the circle, and the target's coordinate n on the N-axis is obtained by scaling the second coordinate value according to the ratio of the semi-minor axis to the radius of the circle.

[0058] In one example, in step S1, a second projection plane is constructed from the at least one projection plane, and the method for constructing the second projection plane includes:

[0059] Rotating the sector-shaped AOB around the rotation axis yields a three-dimensional geometric shape (such as...). Figure 2 (as shown);

[0060] The solid geometry is cut along the direction of the rotation axis OB (i.e., the Z-axis direction) to obtain the second projection plane among the at least one projection plane.

[0061] In one example, the second graphic displayed in the user interface includes a two-dimensional geometric figure. Specifically, the two-dimensional geometric figure includes at least one of a second projection plane, a line, and a point. The projection of the target onto the second projection plane is displayed in the two-dimensional geometric figure, and a determination is made based on the target displayed on the two-dimensional geometric figure whether to adjust the distance between the target and the optical positioning camera. When the position of the target is displayed in the two-dimensional geometric figure as close to the optical positioning camera, it is determined that the distance between the target and the optical positioning camera will be adjusted.

[0062] Thus, the target display method of the present invention can adjust the relative position of the target and the optical positioning camera according to the information displayed in the second graphic, so as to achieve accurate and stable optical positioning.

[0063] In one example, the method of displaying the projection of the target in the second projection plane in the two-dimensional geometry includes the following steps:

[0064] The target is projected onto the second projection plane using orthogonal projection.

[0065] Based on the position information of the target in the three-dimensional geometry (e.g., the coordinates of the target in the spatial rectangular coordinate system O-XYZ (x0, y0, z0)), the position information of the projection of the target in the second projection plane (x2, y2, z0) is obtained;

[0066] The two-dimensional geometry is set as the second projection surface, and the target is displayed in the two-dimensional geometry based on the position information (x2, y2, z0) of the projection.

[0067] For example, when the second projection plane is coplanar with the XOZ plane, the position information of the target when orthogonally projected onto the second projection plane is (x0,0,z0).

[0068] In one example, when mapping the target onto a second projection plane to achieve projection, the second projection plane is set to be coplanar with the XOZ plane or the YOZ plane, and the center of the second projection plane is located at the origin O. The method for displaying the projection of the target onto the second projection plane in the two-dimensional geometry includes the following steps:

[0069] Obtain the first distance l0 between the target and the optical positioning camera in the spatial rectangular coordinate system O-XYZ.

[0070] The target is projected onto the second projection plane, and the second distance l1 between the projection of the target on the second projection plane and the origin O is equal to the first distance l0;

[0071] The two-dimensional geometry is set as the second projection plane or a straight line, and the target is displayed in the two-dimensional geometry based on the second distance l1.

[0072] In one example, the method of projecting the target onto the second projection plane includes:

[0073] Construct a plane perpendicular to the second projection plane through the projection lines;

[0074] The target on the projection line is mapped onto the intersection line t of the plane and the second projection plane. The distance between the projection of the target onto the intersection line t and the optical positioning camera is the second distance l1.

[0075] When the two-dimensional geometric figure is a straight line, the method for displaying the target in the two-dimensional geometric figure also includes the following steps:

[0076] Determine whether the intersection line t coincides with the Z-axis of the second projection plane;

[0077] When the intersection line t forms an angle with the Z-axis of the second projection plane, it is determined that the intersection line t does not coincide with the Z-axis of the second projection plane. Then, the intersection line t is rotated until it coincides with the Z-axis, and the second distance l1 is the coordinate value of the target on the Z-axis. Based on the coordinate value of the target on the Z-axis, the target is displayed in the straight line, wherein the rotated intersection line is the straight line.

[0078] Furthermore, combined Figure 2 , Figure 5A and Figure 5B The second projection surface has a fan-shaped or annular fan-shaped shape. The fan-shaped AOC can correspond to the calculated and determined field of view area, where the radius of the fan-shaped AOC is equal to the value obtained by spatially transforming the maximum shooting distance L of the optical positioning camera through Q. The fan-shaped AOC can also correspond to the case where an effective field of view area is selected within the calculated and determined field of view area, where the shooting distance of the optical positioning camera within this effective field of view ranges from 0 to L2. In this case, the radius of the fan is equal to the value obtained by spatially transforming the second shooting distance L2 through Q. <L2<L。

[0079] Combination Figure 2 and Figure 5B The annular sector is obtained by cutting a first sector (AOC) along the direction of the rotation axis to obtain the three-dimensional geometry, and then extracting a second sector (DOE) with the optical positioning camera as the center O. The annular sector (DECA) corresponds to the case where an effective field of view is selected within the calculated and determined field of view area. Within this effective field of view area, the shooting distance range of the optical positioning camera is L1-L2. In this case, the radius of the first sector is the value obtained by spatial transformation Q from distance L2, and the radius of the second sector is the value obtained by spatial transformation Q from distance L1, and 0... <L1<L2≤L。

[0080] When the two-dimensional geometric figure is the second projection plane, the method for displaying the target in the two-dimensional geometric figure also includes the following steps:

[0081] Based on the target's coordinates (x0, y0, z0) in the spatial rectangular coordinate system O-XYZ and the information of the second projection plane, determine the target's position information (x2, y2, z0) when orthogonally projected onto the second projection plane;

[0082] The third distance l2 between the target and the optical positioning camera is obtained based on the location information (x2, y2, z0), where

[0083] Based on the third proportional relationship k between the second distance l1 and the third distance l2, and the position information (x2, y2, z0), the position information (x3, y3, z0) of the target mapped onto the second projection plane is determined, where:

[0084] k = l1 / l2,

[0085] x3 = x2 × k = x2 × l1 / l2,

[0086] y3 = y2 × k = y2 × l1 / l2.

[0087] In one example, when the second projection plane is coplanar with the XOZ plane, y3 = 0. When the second projection plane is coplanar with the YOZ plane, x3 = 0.

[0088] For example, when the two-dimensional geometric figure is the second projection plane, the position information of the target in the second projection plane is obtained based on the above process, and the target is displayed on the second projection plane based on this position information. The distance between the target and the origin (the position of the optical positioning camera) is determined. When the displayed target is close to the origin, the position of the target is adjusted to a suitable position, such as... Figure 5A or Figure 5B As shown.

[0089] Figure 5A and Figure 5B The second graphic 20, formed as a second projection plane, is shown, in which targets a and b are shown displayed in the second graphic 20. (See diagram 20 for details.) Figure 5A As shown, the second figure 20 is a fan shape. Compared to target b, target a is closer to the position of the optical positioning camera (origin O). Figure 5B As shown, the second graphic 20 is a fan-shaped structure. Compared to target b, target a is closer to the position of the optical positioning camera (origin O). Therefore, the user can determine whether the target is within a stable region based on the relative position of the target shown in the second graphic.

[0090] In one example, the target display method of the present invention can simultaneously display the target in a first graphic and a second graphic. The first graphic determines the degree of offset of the target from the optical positioning camera, and the second graphic determines the distance of the target from the optical positioning camera. Thus, the relative position of the target in the effective field of view can be determined using only two graphics. Therefore, the target display method of the present invention can display the target in a more intuitive and simple way.

[0091] Moreover, in embodiments of the present invention, both the first and second graphics can be formed in a two-dimensional or one-dimensional form, which, compared to a three-dimensional form, allows users to intuitively and quickly understand whether the target is in a stable region.

[0092] The target display method of this invention can be applied to transcranial magnetic stimulation (TMS) devices, where the target may include the patient's head, stimulation coil, and calibration gun. Therefore, the user can determine the relative position of the patient's head, stimulation coil, or calibration gun within the effective field of view based on the target displayed in the first and / or second graphics, and can accurately, conveniently, and efficiently adjust the target using the target information in the first and / or second graphics.

[0093] In embodiments of the present invention, a readable storage medium is provided. The readable storage medium stores a program or instructions, which, when executed by a processor, implement the target display method described in any of the above embodiments.

[0094] In embodiments of the present invention, "readable storage medium" refers to any medium that participates in providing a program or instructions to a processor for execution. The medium can take many forms, including but not limited to non-volatile media, volatile media, and transmission media. Non-volatile media include, for example, optical discs or magnetic disks, such as storage devices. Volatile media include dynamic memory, such as main memory. Transmission media include coaxial cables, copper wires, and optical fibers, including conductors containing buses. Transmission media can also take the form of acoustic or optical waves, such as acoustic or optical waves generated during radio frequency (RF) and infrared (IR) data communications. Common forms of readable storage media include, for example, floppy disks, flexible disks, hard disks, magnetic tape, any other magnetic media, CD-ROMs, DVDs, any other optical media, punched cards, paper tape, any other physical media with a perforated pattern, RAM, PROMs and EPROMs, FLASH-EPROMs, any other memory chips or cartridges, carrier waves as described below, or any other medium from which a computer can read.

[0095] The target display method and readable storage medium according to the present invention have at least one of the following advantages:

[0096] (1) The target display method and readable storage medium of the present invention allow the position of the target within the effective field of view of the optical positioning camera to be displayed in a simple and effective manner, thereby making it easier for users to understand whether the target is in a stable area;

[0097] (2) The target display method and readable storage medium of the present invention allow the position of the target within the effective field of view of the optical positioning camera to be displayed with fewer views, thereby facilitating the user to quickly observe the target;

[0098] (3) The target display method and readable storage medium of the present invention allow the target to be displayed in a two-dimensional view within the effective field of view of the optical positioning camera, thereby facilitating the user to observe the target intuitively.

[0099] While some embodiments of the present general inventive concept have been shown and described, those skilled in the art will understand that changes may be made to these embodiments without departing from the principles and spirit of the present general inventive concept, the scope of which is defined by the claims and their equivalents.

Claims

1. A target display method, the target display method comprising the following steps: Step S1 constructs a first projection plane and a second projection plane based on the effective field of view of the camera, wherein The first projection surface is a projection surface formed by rotating the arc edge of a sector around one of its edges as an axis of rotation, wherein the sector is centered on the camera. The second projection plane is formed by rotating the sector around the rotation axis to obtain a three-dimensional geometric shape, and then cutting the three-dimensional geometric shape along the direction of the rotation axis. Step S2 obtains the position information of the target's projections on the first projection plane and the second projection plane, respectively, and displays the target on the user interface based on the position information, wherein... The degree of offset of the target from the camera is determined by the position information of the projection on the first projection surface. The distance between the target and the camera is determined by the position information of the projection on the second projection surface.

2. The target display method according to claim 1, wherein, Step S2 further includes: The target is projected onto the first projection surface via a central projection centered on the camera. Construct a spatial rectangular coordinate system O-XYZ with the camera as the origin O and the rotation axis as the Z-axis; Based on the coordinates of the target in the spatial rectangular coordinate system O-XYZ, obtain the first angle between the projection of the projection line between the target and the camera in the XOZ plane of the spatial rectangular coordinate system O-XYZ and the rotation axis, and the second angle between the projection of the projection line in the YOZ plane of the spatial rectangular coordinate system O-XYZ and the rotation axis; Based on the first proportional relationship between the first included angle and the central angle of the sector, the second proportional relationship between the second included angle and the central angle of the sector, and the arc length of the sector, the conversion information of the target on the first projection plane is obtained, and the target is mapped and displayed in the first graphic in the user interface based on the conversion information.

3. The target display method according to claim 2, wherein, The method for obtaining the transformation information of the target on the first projection plane includes the following steps: Based on the first proportional relationship and the arc length, the first arc length of the first arc line on the projection of the sector in the XOZ plane is obtained; Based on the second proportional relationship and the arc length, the second arc length of the second arc line on the projection of the target onto the sector in the YOZ plane is obtained. The conversion information includes the first arc length and the second arc length.

4. The target display method according to claim 3, wherein, The method for mapping and displaying a target in a first graph of the user interface includes the following steps: In the first figure, construct a rectangular coordinate system MON that is proportional to the XOY plane in the spatial rectangular coordinate system O-XYZ, where the origin O is the center of the first figure; The first arc length is set as the first coordinate value of the target mapped onto the M axis in the Cartesian coordinate system MON, and the second arc length is set as the second coordinate value of the target mapped onto the N axis in the Cartesian coordinate system MON; The target's position information in the first graphic is obtained based on the first coordinate value and the second coordinate value, and the target is displayed in the first graphic based on the position information in the first graphic.

5. The target display method according to claim 4, wherein, The relationship between the target displayed on the first graphic and the boundary of the camera's effective field of view is determined. When the location of the target is displayed near the boundary of the first graphic, it is determined that the target is located at the boundary of the effective field of view area.

6. The target display method according to any one of claims 2-5, wherein, The first shape includes a circle or an ellipse. The circle is the first projection surface after being flattened, and the ellipse is a shape obtained based on the circle transformation.

7. The target display method according to any one of claims 2-5, wherein, The radius of the sector is less than or equal to the maximum shooting distance of the camera, and the angle of the central angle of the sector is less than or equal to half the angle of the field of view of the camera.

8. The target display method according to claim 7, wherein, The second graphic displayed in the user interface includes two-dimensional geometric figures. The projection of the target onto the second projection plane is displayed in the two-dimensional geometry. Based on the target displayed in the two-dimensional geometry, it is determined whether to adjust the distance between the target and the camera. When the target's position is displayed in the two-dimensional geometry near the camera, it is determined to adjust the distance between the target and the camera.

9. The target display method according to claim 8, wherein, The method for displaying the projection of the target in the second projection plane in the two-dimensional geometry includes the following steps: The target is projected onto the second projection plane using orthogonal projection. Based on the position information of the target in the three-dimensional geometry, the position information of the projection of the target in the second projection plane is obtained; The two-dimensional geometric figure is set as the second projection surface, and the target is displayed in the two-dimensional geometric figure based on the position information of the projection.

10. The target display method according to claim 8, wherein, The second projection plane is coplanar with the XOZ plane or the YOZ plane, and the center of the second projection plane is located at the origin O. The method for displaying the projection of the target in the second projection plane in the two-dimensional geometry includes the following steps: Obtain the first distance between the target and the camera in the spatial rectangular coordinate system O-XYZ; The target is projected onto the second projection plane, and the second distance between the projection of the target on the second projection plane and the origin O is equal to the first distance; The two-dimensional geometry is set as the second projection surface or a straight line, and the target is displayed in the two-dimensional geometry based on the second distance.

11. The target display method according to claim 10, wherein, The method of projecting the target onto the second projection plane includes: Construct a plane perpendicular to the second projection plane through the projection lines; The target on the projection line is mapped onto the intersection line of the plane and the second projection plane, and the distance between the projection of the target mapped onto the intersection line and the camera is the second distance.

12. The target display method according to claim 11, wherein, In the second projection plane, when the line of intersection forms an angle with the Z-axis of the second projection plane, the line of intersection is rotated until it coincides with the Z-axis. The second distance is the coordinate value of the target on the Z-axis. The target is displayed in the straight line based on its coordinates on the Z-axis, wherein the rotated intersection line is the straight line.

13. The target display method according to claim 11, wherein, The second projection surface is fan-shaped or annular. The annular sector is obtained by cutting a second sector with the camera as the center from a first sector obtained by cutting the three-dimensional geometric shape along the direction of the rotation axis.

14. The target display method according to claim 13, wherein, Obtain the orthogonal position information of the target orthogonally projected onto the second projection plane; The third distance between the target's orthogonal projection onto the second projection plane and the camera is obtained based on the orthogonal position information. The position information of the target in the second projection plane is obtained based on the third distance, the second distance, and the orthogonal position information.

15. A readable storage medium, wherein, The readable storage medium stores a program or instructions that, when executed by a processor, implement the target display method according to any one of claims 1-14.

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