Square road sign corner point processing method, device, equipment and storage medium

Abstract

The present application relates to a method, device, equipment and storage medium for processing the corner points of a square road sign. The method includes: obtaining the corner point coordinates of the square road sign, where the number of corner point coordinates is four; converting three of the corner point coordinates according to a preset magnification rule to obtain three planar vertex coordinates; constructing a plane based on the three planar vertex coordinates using a preset plane equation; converting the remaining one corner point coordinate according to the preset magnification rule to obtain a coordinate point to be projected; if the distance between the coordinate point to be projected and the constructed plane is greater than a preset threshold, projecting the coordinate point to be projected onto the plane to obtain a foot projection coordinate point, and restoring the foot projection coordinate point according to a preset restoration rule; using the three planar vertex coordinates before conversion and the restored foot projection coordinate point as target corner points to construct a square road sign. Through the above steps, the constructed square road sign will not be deformed.

Description

Technical Field

[0001] This application relates to the technical field of high-precision maps, and particularly to a method, apparatus, device, and storage medium for processing the corner points of a square road sign. Background Art

[0002] A high-precision map is a reconstruction of the road environment. A high-precision map contains a large number of road elements, and among them, the road sign element is one of the most common elements in a high-precision map. As a sign on the road that indicates safe and standardized driving for drivers, the role of a road sign is beyond doubt. Therefore, the precise construction of the road sign element is crucial.

[0003] In the related art, due to manufacturing errors, the four corner points of the identified square road sign often do not lie on the same plane, which will cause the Shape file of the generated high-precision map to be deformed. As Figure 5 shown is the case where the square road sign in the Shape file is significantly deformed. From the front view, there are obvious "creases" in the middle part of the square road sign in the Shape file. From the side view, the square road sign in the Shape file is not in a "straight line" but in a "triangular shape". Summary of the Invention

[0004] To solve or partially solve the problems existing in the related art, this application provides a method, apparatus, device, and storage medium for processing the corner points of a square road sign, which can make all the corner points of the square road sign lie on the same plane.

[0005] The first aspect of this application provides a method for processing the corner points of a square road sign, including:

[0006] Obtain the corner point coordinates of the square road sign, where the number of the corner point coordinates is four;

[0007] Convert three of the corner point coordinates according to a preset magnification rule to obtain three planar vertex coordinates;

[0008] Construct a plane based on the three planar vertex coordinates using a preset plane equation;

[0009] Convert the remaining one corner point coordinate according to the preset magnification rule to obtain a coordinate point to be projected;

[0010] If the distance between the coordinate point to be projected and the constructed plane is greater than a preset threshold, project the coordinate point to be projected onto the plane to obtain a foot-of-perpendicular projection coordinate point, and restore the foot-of-perpendicular projection coordinate point according to a preset restoration rule;

[0011] Use the three planar vertex coordinates before conversion and the restored foot-of-perpendicular projection coordinate point as target corner points to construct the square road sign.

[0012] Preferably, the preset magnification rule includes:

[0013] Remove the integer parts of the X-axis, Y-axis, and Z-axis coordinates of the corner point coordinates;

[0014] Magnify the decimal parts of the X-axis, Y-axis, and Z-axis coordinates of the remaining corner point coordinates according to a preset magnification factor.

[0015] Preferably, restoring the foot of the perpendicular projection coordinate point according to the preset restoration rule includes:

[0016] Reduce the X-axis, Y-axis, and Z-axis coordinates of the foot of the perpendicular projection coordinate point according to a preset reduction factor;

[0017] Add the X-axis, Y-axis, and Z-axis coordinates of the reduced foot of the perpendicular projection coordinate point to the integer parts of the X-axis, Y-axis, and Z-axis coordinates of the to-be-projected coordinate point correspondingly.

[0018] Preferably, the corner point coordinates include UTM coordinates or longitude and latitude coordinates.

[0019] The second aspect of the present application provides a rectangular road sign corner point processing device, including:

[0020] An acquisition module, configured to acquire the corner point coordinates of a rectangular road sign, where the number of the corner point coordinates is four;

[0021] A first conversion module, configured to convert three of the corner point coordinates according to a preset magnification rule to obtain three plane vertex coordinates; a plane construction module, configured to construct a plane based on the three plane vertex coordinates by using a preset plane equation;

[0022] A second conversion module, configured to convert the remaining one corner point coordinate according to the preset magnification rule to obtain a to-be-projected coordinate point;

[0023] A projection restoration module, configured to, if the distance between the to-be-projected coordinate point and the constructed plane is greater than a preset threshold, project the to-be-projected coordinate point onto the plane to obtain a foot of the perpendicular projection coordinate point, and restore the foot of the perpendicular projection coordinate point according to a preset restoration rule;

[0024] A road sign construction module, configured to use the three plane vertex coordinates before conversion and the restored foot of the perpendicular projection coordinate point as target corner points to construct the rectangular road sign.

[0025] Preferably, the preset magnification rule includes:

[0026] Remove the integer parts of the X-axis, Y-axis, and Z-axis coordinates of the corner point coordinates;

[0027] Magnify the fractional parts of the X-axis, Y-axis, and Z-axis coordinates of the remaining corner coordinates according to a preset magnification factor.

[0028] Preferably, restoring the foot-of-perpendicular projection coordinate points according to a preset restoration rule includes:

[0029] Reduce the X-axis, Y-axis, and Z-axis coordinates of the foot-of-perpendicular projection coordinate points according to a preset reduction factor;

[0030] Add the X-axis, Y-axis, and Z-axis coordinates of the reduced foot-of-perpendicular projection coordinate points to the integer parts of the X-axis, Y-axis, and Z-axis coordinates of the to-be-projected coordinate points correspondingly.

[0031] Preferably, the corner coordinates include UTM coordinates or longitude and latitude coordinates.

[0032] A third aspect of the present application provides an electronic device, including:

[0033] A processor; and

[0034] A memory having executable code stored thereon, which when executed by the processor, causes the processor to execute the square road sign corner processing method as described above.

[0035] A fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon, which when executed by a processor of an electronic device, causes the processor to execute the square road sign corner processing method as described above.

[0036] The technical solution provided by the present application may include the following beneficial effects:

[0037] The technical solution of the present application obtains the corner coordinates of a square road sign, where the number of corner coordinates is four; converts three of the corner coordinates according to a preset magnification rule to obtain three plane vertex coordinates; constructs a plane based on the three plane vertex coordinates using a preset plane equation; converts the remaining one corner coordinate according to a preset magnification rule to obtain a to-be-projected coordinate point; if the distance between the to-be-projected coordinate point and the constructed plane is greater than a preset threshold, project the to-be-projected coordinate point onto the plane to obtain a foot-of-perpendicular projection coordinate point, and restore the foot-of-perpendicular projection coordinate point according to a preset restoration rule; use the three plane vertex coordinates before conversion and the restored foot-of-perpendicular projection coordinate point as target corners to construct a square road sign.

[0038] Based on the coordinates of three planar vertices, this application constructs a plane using a preset planar equation. When it is satisfied that the distance between the coordinate point to be projected and the plane is greater than a preset threshold, the coordinate point to be projected is projected onto the plane to obtain the foot projection coordinate point, and the foot projection coordinate point is restored. Since both the three planar vertex coordinates before conversion and the restored foot projection coordinate point are on the same plane, the constructed square road sign will not undergo obvious deformation.

[0039] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] By describing the exemplary embodiments of this application in more detail in conjunction with the drawings, the above and other objects, features, and advantages of this application will become more obvious. Among them, in the exemplary embodiments of this application, the same reference numerals generally represent the same components.

[0041] Figure 1 FIG. shows a schematic flowchart of a method for processing corner points of a square road sign in an embodiment of this application;

[0042] Figure 2 FIG. shows a flowchart block diagram of a method for processing corner points of a square road sign in an embodiment of this application;

[0043] Figure 3 FIG. shows a schematic structural diagram of a device for processing corner points of a square road sign in an embodiment of this application;

[0044] Figure 4 FIG. shows a side view of a square road sign before and after correction in an embodiment of this application;

[0045] Figure 5 FIG. shows a schematic structural diagram of a significantly deformed square road sign in a Shape file in the related art;

[0046] Figure 6 FIG. shows a schematic structural diagram of an electronic device in an embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] The embodiments of this application will be described in more detail below with reference to the drawings. Although the embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0048] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms "a", "the", and "said" used in this application and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0049] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality of" means two or more unless otherwise specifically defined.

[0050] In the related art, due to manufacturing errors, the four corner points of the identified square road sign often do not lie in the same plane, which can cause the Shape file of the generated high-precision map to be deformed.

[0051] Therefore, to solve the above technical problems, this application provides a method, device, equipment, and storage medium for processing the corner points of a square road sign, which can make all the corner points of the square road sign lie in the same plane.

[0052] The following details the technical principle of this application with reference to the accompanying drawings.

[0053] Figure 1 The flowchart of a method for processing the corner points of a square road sign in an embodiment of this application is shown.

[0054] Please refer to Figure 1 , a method for processing the corner points of a square road sign, including the following steps:

[0055] Step S111, obtain the corner point coordinates of the square road sign, where the number of corner point coordinates is four.

[0056] It should be noted that for a square road sign on a road, the square road sign has four corner points, which are the points at the intersection of two adjacent side lengths (i.e., the intersection of two adjacent side lengths). The corner points are the basis for constructing the square road sign. By connecting two adjacent corner points, the outline of the square road sign can be constructed. Then, by identifying the font, symbols, graphics, and other identification elements in the square road sign and restoring these identification elements to the constructed square road sign, the construction of the entire square road sign is completed.

[0057] Specifically, in some embodiments, the corner coordinates of the square road sign include UTM coordinates or longitude and latitude coordinates. UTM (Universal Transverse Mercator Grid System) coordinates are a kind of plane rectangular coordinates. This coordinate grid system and the projection on which it is based have been widely used in topographic maps, as a reference grid for satellite images and natural resource databases, and other applications that require precise positioning. Longitude and latitude coordinates are geographical coordinates, which are spherical coordinates representing the position of a ground point with latitude and longitude. The geographical coordinate system takes the earth's axis as the polar axis, and all planes passing through the north and south poles of the earth are called meridian planes.

[0058] Step S112: Convert the corner coordinates of three of them according to a preset magnification rule to obtain three planar vertex coordinates.

[0059] Taking the corner coordinates as UTM coordinates as an example, for the UTM coordinate system, the road element of the square road sign is extremely small, that is, the integer parts of the four corner coordinates in the square road sign are almost the same, and the difference lies in the decimal parts of the corner coordinates. Therefore, in order to magnify the difference between the corner coordinates, it is necessary to convert the corner coordinates according to a preset magnification rule. It should be emphasized that during the conversion process, the selection method of the corner coordinates of three of the square road signs is randomly selected.

[0060] The preset magnification rule is as follows: Remove the integer parts of the X-axis, Y-axis, and Z-axis coordinates of the corner coordinates; Magnify the decimal parts of the X-axis, Y-axis, and Z-axis coordinates of the remaining corner coordinates according to a preset magnification factor (that is, multiply the decimal parts of the X-axis, Y-axis, and Z-axis coordinates of the corner coordinates by the preset magnification factor). It should be noted that by removing the integer parts of the X-axis, Y-axis, and Z-axis coordinates of the corner coordinates, retaining the decimal parts of the X-axis, Y-axis, and Z-axis coordinates of the corner coordinates, and using a preset magnification factor to magnify the remaining decimal parts, the conversion of the corner coordinates is completed. In this way, the difference between different corner coordinates of the square road sign can be magnified, so that different corner coordinates will not be in a state of "coincidence" in space.

[0061] Step S113: Construct a plane based on the three planar vertex coordinates using a preset plane equation.

[0062] After obtaining three planar vertex coordinates by completing the conversion of the corner coordinates of three of the square road signs, a plane is constructed based on the three planar vertex coordinates using a preset plane equation. Since it is achieved by connecting three points, the constructed plane can contain the three converted corner coordinates.

[0063] Step S114: Convert the remaining one corner point coordinate according to the preset magnification rule to obtain the coordinate point to be projected.

[0064] Similarly, for the remaining one corner point coordinate of the square road sign, convert it according to the same preset magnification rule, that is, remove the integer parts of the X-axis, Y-axis, and Z-axis coordinates of this corner point coordinate, and magnify the decimal parts of the X-axis, Y-axis, and Z-axis coordinates of the remaining corner point coordinate according to the preset magnification factor to obtain the coordinate point to be projected.

[0065] Step S115: If the distance between the coordinate point to be projected and the constructed plane is greater than the preset threshold, project the coordinate point to be projected onto the plane to obtain the foot-of-perpendicular projection coordinate point, and restore the foot-of-perpendicular projection coordinate point according to the preset restoration rule.

[0066] After obtaining the coordinate point to be projected, in order to make the four corner point coordinates corresponding to the square road sign all lie on the same plane, the distance can be calculated through the coordinate point to be projected and the plane, and it is judged whether the distance is greater than the preset threshold. If so, project the coordinate point to be projected onto the newly built plane to obtain the foot-of-perpendicular projection coordinate point, and restore the foot-of-perpendicular projection coordinate point according to the preset restoration rule.

[0067] The specific preset restoration rule is as follows: Shrink the X-axis, Y-axis, and Z-axis coordinates of the foot-of-perpendicular projection coordinate point according to the preset shrinkage factor (that is, the decimal parts of the X-axis, Y-axis, and Z-axis coordinates of the corner point coordinate are divided by the preset shrinkage factor respectively); Add the X-axis, Y-axis, and Z-axis coordinates of the shrunk foot-of-perpendicular projection coordinate point to the integer parts of the X-axis, Y-axis, and Z-axis coordinates of the coordinate point to be projected respectively. It should be noted that the preset restoration rule is actually the "reverse process" of the preset magnification rule, and the value of the preset shrinkage factor is equal to the value of the preset magnification factor.

[0068] Step S116: Use the three plane vertex coordinates before conversion and the restored foot-of-perpendicular projection coordinate point as the target corner points to construct the square road sign.

[0069] The technical solution of this embodiment constructs a plane based on three plane vertex coordinates by using a preset plane equation. When the distance between the coordinate point to be projected and the constructed plane is greater than the preset threshold, project the coordinate point to be projected onto the plane to obtain the foot-of-perpendicular projection coordinate point and restore the foot-of-perpendicular projection coordinate point. Since the three plane vertex coordinates before conversion and the restored foot-of-perpendicular projection coordinate point are all on the same plane, the constructed square road sign will not be significantly deformed.

[0070] As Figure 4 shown is the side view of the square road sign 10 before and after correction. From Figure 4 it can be seen that before correction, the square road sign 10, due to its four corner point coordinates (that is Figure 4The four corner coordinates E, F, H, and I shown) are not in the same plane, making the overall shape of the square road sign 10 appear "triangular" when viewed from the side before correction. After correction by the technical solution of this embodiment, since the four corner coordinates of the corrected square road sign 10 are all in the same plane (i.e., Figure 4 the four corner coordinates E1, F1, H1, and I1 shown), the overall shape of the square road sign 10 appears "linear" when viewed from the side, completing the precise correction of the square road sign 10.

[0071] Figure 2 The flowchart of a method for processing the corner points of a square road sign in an embodiment of the present application is shown. Figure 2 It is expanded and described with the corner point coordinates as UTM coordinates.

[0072] Please refer to Figure 2 , a method for processing the corner points of a square road sign, includes the following steps:

[0073] Step S211: Obtain the four corner coordinates of the square road sign, and enter step S212.

[0074] Among them, the four corner coordinates of the obtained square road sign are respectively denoted as P1, P2, P3, and P4.

[0075] Step S212: Arbitrarily select three of the corner coordinates of the square road sign and magnify them according to a preset magnification rule to obtain three plane vertex coordinates, and enter step S213.

[0076] Preset magnification rule: Remove the integer parts of the X-axis, Y-axis, and Z-axis coordinates of the corner coordinates; Magnify the decimal parts of the X-axis, Y-axis, and Z-axis coordinates of the remaining corner coordinates according to a preset magnification factor (i.e., multiply the decimal parts of the X-axis, Y-axis, and Z-axis coordinates of the corner coordinates by the preset magnification factor). The specific formula is as follows:

[0077] X' = K * (X - int(X)) (1);

[0078] Y' = K * (Y - int(Y)) (2);

[0079] Z' = K * (Z - int(Z)) (3);

[0080] Among them, X, Y, and Z respectively represent the coordinate values of the X-axis, Y-axis, and Z-axis of the corner coordinates before conversion; int(X), int(Y), and int(Z) respectively represent the integer parts of the coordinate values of the X-axis, Y-axis, and Z-axis of the corner coordinates before conversion; K represents the preset magnification factor (the value of the preset magnification factor is not specifically limited); X', Y', and Z' respectively represent the coordinate values of the X-axis, Y-axis, and Z-axis of the corner coordinates after conversion.

[0081] Thus, select the three corner point coordinates P1, P2, and P3 for conversion. Through formulas (1), (2), and (3), the conversion of the coordinates of three of the four corner points of the square road sign is completed, obtaining the coordinates of three plane vertices, which are respectively denoted as P1', P2', and P3'.

[0082] Step S213: Based on the coordinates of the three plane vertices, construct a plane using a preset plane equation, and then proceed to step S214.

[0083] Among them, the preset plane equation is as follows:

[0084] A*x + B*y + C*z + D = 0 (4)

[0085] Among them, A, B, C, and D represent the plane coefficients, and x, y, and z respectively represent the coordinate values of the X-axis, Y-axis, and Z-axis of the plane vertex coordinates.

[0086] Step S214: Convert the remaining one corner point coordinate according to a preset magnification rule to obtain the coordinate point to be projected, and then proceed to step S215.

[0087] Convert the remaining one corner point coordinate P4 of the square road sign according to the preset magnification rule to obtain the coordinate point to be projected P4'. The principle of the preset magnification rule will not be elaborated here. For details, please refer to step S212.

[0088] Step S215: Calculate the distance between the coordinate point to be projected and the constructed plane, and then proceed to step S216.

[0089] The formula for calculating the distance between the coordinate point to be projected and the constructed plane is as follows:

[0090]

[0091] Among them, d represents the distance between the coordinate point to be projected and the plane, A, B, C, and D represent the plane coefficients, and x, y, and z respectively represent the coordinate values of the X-axis, Y-axis, and Z-axis of the coordinate point to be projected.

[0092] Step S216: Determine whether the distance d is greater than a preset threshold. If the distance d is greater than the preset threshold (the size of the preset threshold is not specifically limited), proceed to step S217; if the distance d is less than or equal to the preset threshold, return to step 212.

[0093] If the distance d is greater than the preset threshold, project the coordinate point to be projected P4' onto the plane P to obtain the foot projection coordinate point P4'', and determine that the coordinate point P4' corresponding to the foot projection coordinate point P4'' is the coordinate point that needs to be corrected.

[0094] Step S217: Restore the foot projection coordinate point P4” according to the preset restoration rule, and proceed to step S218.

[0095] Restore the foot projection coordinate point P4” according to the preset restoration rule to obtain the restored foot projection coordinate point P f .

[0096] The preset restoration rule is as follows: Shrink the X-axis, Y-axis, and Z-axis coordinates of the foot projection coordinate point according to the preset shrinkage multiple (the preset shrinkage multiple is equal to the preset magnification multiple) (that is, the decimal parts of the X-axis, Y-axis, and Z-axis coordinates of the corner point coordinates are divided by the preset shrinkage multiple respectively); Add the shrunk X-axis, Y-axis, and Z-axis coordinates of the foot projection coordinate point to the integer parts of the X-axis, Y-axis, and Z-axis coordinates of the coordinate point to be projected. Among them, the preset restoration rule is the “reverse process” of the preset magnification rule. For the detailed technical principle, please refer to step 212, which will not be elaborated here.

[0097] Step S218: Use the three plane vertex coordinates before conversion and the restored foot projection coordinate point as target corner points to construct a square road sign.

[0098] Use the three plane vertex coordinates P1, P2, P3 before conversion and the restored foot projection coordinate point P f as the four target corner points of the square road sign, and construct a square road sign with these four target corner points (that is, P1, P2, P3, P f ). It should be emphasized that the overall outline of the square road sign is constructed by using these four target corner points P1, P2, P3, P f , rather than constructing the identification elements (such as fonts, graphics, symbols) in the square road sign.

[0099] The technical solution of this embodiment constructs a plane based on three plane vertex coordinates using a preset plane equation. When the distance is greater than the preset threshold, the coordinate point to be projected is projected vertically onto the plane to obtain the foot projection coordinate point, and the foot projection coordinate point is restored. Since the three plane vertex coordinates before conversion and the restored foot projection coordinate point are all on the same plane, the constructed square road sign will not be significantly deformed.

[0100] Corresponding to the foregoing functional method embodiment, the present application also provides a square road sign corner point processing device and a corresponding embodiment.

[0101] Figure 3 Shows a structural schematic diagram of a square road sign corner point processing device in an embodiment of the present application.

[0102] Please refer to Figure 3, a square road sign corner processing device 50, comprising: an acquisition module 510, a first conversion module 520, a plane construction module 530, a second conversion module 540, a projection restoration module 550 and a road sign construction module 560.

[0103] The acquisition module 510 is used to acquire the corner coordinates of the square road sign, where the number of corner coordinates is four.

[0104] It should be noted that for the square road signs on the road, the square road sign has four corner points, which are the points at the intersection of two adjacent side lengths (i.e., the intersection of two adjacent side lengths). The corner points are the basis for constructing the square road sign. By connecting two adjacent corner points, the outline of the square road sign can be constructed. Then, by identifying the font, symbols, graphics and other identification elements in the square road sign and restoring these identification elements to the constructed square road sign, the construction of the entire square road sign is completed.

[0105] Specifically, in some embodiments, the corner coordinates of the square road sign include UTM coordinates or longitude and latitude coordinates.

[0106] The first conversion module 520 is used to convert three of the corner coordinates according to a preset magnification rule to obtain three planar vertex coordinates.

[0107] The preset magnification rule is as follows: remove the integer parts of the X-axis, Y-axis, and Z-axis coordinates of the corner coordinates; magnify the decimal parts of the X-axis, Y-axis, and Z-axis coordinates of the remaining corner coordinates according to a preset magnification factor (i.e., multiply the decimal parts of the X-axis, Y-axis, and Z-axis coordinates of the corner coordinates by the preset magnification factor). It should be noted that by removing the integer parts of the X-axis, Y-axis, and Z-axis coordinates of the corner coordinates, retaining the decimal parts of the X-axis, Y-axis, and Z-axis coordinates of the corner coordinates, and magnifying the retained decimal parts by a preset magnification factor to complete the conversion of the corner coordinates. In this way, the differences between different corner coordinates in the square road sign can be magnified, so that the corner coordinates will not be in a state of "coincidence" in space.

[0108] The plane construction module 530 is used to construct a plane based on the three planar vertex coordinates using a preset plane equation.

[0109] After completing the conversion of three of the corner coordinates of the square road sign to obtain three planar vertex coordinates, a plane is constructed based on the three planar vertex coordinates using a preset plane equation. Since the construction is achieved by connecting three points, the constructed plane can contain the three converted corner coordinates.

[0110] The second conversion module 540 is used to convert the remaining one corner coordinate according to the preset magnification rule to obtain a coordinate point to be projected.

[0111] Similarly, for the remaining corner point coordinates of the square road sign, they are transformed according to the same preset magnification rule, that is, the integer parts of the X-axis, Y-axis, and Z-axis coordinates of the corner point coordinates are removed, and the decimal parts of the X-axis, Y-axis, and Z-axis coordinates of the remaining corner point coordinates are magnified according to the preset magnification factor to obtain the coordinates of the point to be projected.

[0112] The projection reduction module 550 is used to project the point to be projected onto the plane as the foot of the perpendicular to obtain the foot of the perpendicular projection coordinates if the distance between the point to be projected and the constructed plane is greater than the preset threshold, and restore the foot of the perpendicular projection coordinates according to the preset reduction rule.

[0113] The specific preset reduction rule is as follows: the X-axis, Y-axis, and Z-axis coordinates of the foot of the perpendicular projection coordinates are reduced according to the preset reduction factor (that is, the decimal parts of the X-axis, Y-axis, and Z-axis coordinates of the corner point coordinates are divided by the preset reduction factor respectively); the X-axis, Y-axis, and Z-axis coordinates of the reduced foot of the perpendicular projection coordinates are added to the integer parts of the X-axis, Y-axis, and Z-axis coordinates of the point to be projected respectively. It should be noted that the preset reduction rule is actually the "reverse process" of the preset magnification rule, and the value of the preset reduction factor is equal to the value of the preset magnification factor.

[0114] The road sign construction module 560 is used to construct a square road sign with the three plane vertex coordinates and the restored foot of the perpendicular projection coordinates as the target corner points.

[0115] In the device of this embodiment, a plane is constructed based on the three plane vertex coordinates by using the preset plane equation. When the distance between the point to be projected and the plane satisfies being greater than the preset threshold, the point to be projected is projected onto the plane as the foot of the perpendicular to obtain the foot of the perpendicular projection coordinates, and the foot of the perpendicular projection coordinates is restored. Since the three plane vertex coordinates before conversion and the restored foot of the perpendicular projection coordinates are all on the same plane, the constructed square road sign will not undergo obvious deformation.

[0116] Regarding the device in the above embodiment, the specific manners in which each module and unit perform operations have been described in detail in the method embodiment corresponding to the device, and will not be elaborated here.

[0117] Please refer to Figure 6 , the electronic device 600 includes a processor 610 and a memory 620.

[0118] The processor 610 may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0119] The memory 620 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, the ROM may store static data or instructions required by the processor 610 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even when the computer is powered off. In some embodiments, the permanent storage device uses a mass storage device (such as a magnetic or optical disk, flash memory) as the permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as dynamic random access memory. The system memory may store some or all of the instructions and data required by the processor during operation. In addition, the memory 620 may include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and magnetic disks and / or optical disks may also be used. Executable code is stored on the memory 620, and when the executable code is processed by the processor 610, it may cause the processor 610 to execute some or all of the methods described above.

[0120] In addition, the method according to the present application may also be implemented as a computer program or computer program product, which includes computer program code instructions for executing some or all of the above steps of the method according to the present application.

[0121] Alternatively, the present application may also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium), on which executable code (or computer program or computer instruction code) is stored. When the executable code (or computer program or computer instruction code) is executed by a processor of an electronic device (or a server, etc.), it causes the processor to execute some or all of the steps of the method according to the present application.

[0122] The embodiments of the present application have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for processing the corner points of a square road sign, which is used for correcting the shape of the square road sign, is characterized in that, Including: Obtain the corner coordinates of a square road sign, where the number of the corner coordinates is four; Convert three of the corner coordinates according to a preset magnification rule to obtain three planar vertex coordinates; Construct a plane based on the three planar vertex coordinates using a preset plane equation; Convert the remaining one corner coordinate according to the preset magnification rule to obtain a coordinate point to be projected; If the distance between the coordinate point to be projected and the constructed plane is greater than a preset threshold, project the coordinate point to be projected perpendicularly onto the plane to obtain a perpendicular projection coordinate point, and restore the perpendicular projection coordinate point according to a preset reduction rule; the processing process of the preset reduction rule corresponds to the reverse direction of the processing process of the preset magnification rule; Use the corner coordinates corresponding to the three planar vertex coordinates before conversion and the restored perpendicular projection coordinate point as target corners to construct the corrected square road sign.

2. The method for processing the corner points of a square road sign according to claim 1, is characterized in that, The preset magnification rule includes: Remove the integer parts of the X-axis, Y-axis, and Z-axis coordinates of the corner coordinates; Magnify the decimal parts of the X-axis, Y-axis, and Z-axis coordinates of the remaining corner coordinates according to a preset magnification factor.

3. The method for processing the corner points of a square road sign according to claim 2, is characterized in that, The restoring the perpendicular projection coordinate point according to the preset reduction rule includes: Reduce the X-axis, Y-axis, and Z-axis coordinates of the perpendicular projection coordinate point according to a preset reduction factor; Add the X-axis, Y-axis, and Z-axis coordinates of the reduced perpendicular projection coordinate point to the integer parts of the X-axis, Y-axis, and Z-axis coordinates of the coordinate point to be projected correspondingly.

4. The method for processing the corner points of a square road sign according to any one of claims 1 to 3, is characterized in that, The corner coordinates include UTM coordinates or longitude and latitude coordinates.

5. A device for processing the corner points of a square road sign, which is used for correcting the shape of the square road sign, is characterized in that, Including: An acquisition module for acquiring the corner coordinates of a square road sign, where the number of the corner coordinates is four; A first conversion module for converting three of the corner coordinates according to a preset magnification rule to obtain three planar vertex coordinates; a plane construction module for constructing a plane based on the three planar vertex coordinates using a preset plane equation; A second conversion module for converting the remaining one corner coordinate according to the preset magnification rule to obtain a coordinate point to be projected; A projection and restoration module for, if the distance between the coordinate point to be projected and the constructed plane is greater than a preset threshold, projecting the coordinate point to be projected perpendicularly onto the plane to obtain a perpendicular projection coordinate point, and restoring the perpendicular projection coordinate point according to a preset reduction rule; the processing process of the preset reduction rule corresponds to the reverse direction of the processing process of the preset magnification rule; A road sign construction module for using the corner coordinates corresponding to the three planar vertex coordinates before conversion and the restored perpendicular projection coordinate point as target corners to construct the corrected square road sign.

6. The device for processing the corner points of a square road sign according to claim 5, is characterized in that, The preset magnification rule includes: Remove the integer parts of the X-axis, Y-axis, and Z-axis coordinates of the corner coordinates; Magnify the decimal parts of the X-axis, Y-axis, and Z-axis coordinates of the remaining corner coordinates according to a preset magnification factor.

7. The device for processing the corner points of a square road sign according to claim 6, is characterized in that, The restoring the perpendicular projection coordinate point according to the preset reduction rule includes: Reduce the X-axis, Y-axis, and Z-axis coordinates of the perpendicular projection coordinate point according to a preset reduction factor; Add the X-axis, Y-axis, and Z-axis coordinates of the reduced foot projection coordinate points to the integer parts of the X-axis, Y-axis, and Z-axis coordinates of the to-be-projected coordinate points respectively.

8. The device for processing the corner points of a square road sign according to any one of claims 5 to 7, is characterized in that, The corner coordinates include UTM coordinates or longitude and latitude coordinates.

9. An electronic device, is characterized in that, Comprising: A processor; And A memory storing executable code, which when executed by the processor, causes the processor to execute the square road sign corner point processing method according to any one of claims 1 to 4.

10. A computer-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to execute the method for processing corner points of a square road sign according to any one of claims 1 to 4.

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