CN109828695A - A kind of large-screen interactive system based on laser radar positioning - Google Patents
A kind of large-screen interactive system based on laser radar positioning Download PDFInfo
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Abstract
The invention discloses a kind of large-screen interactive systems based on laser radar positioning, belong to field of human-computer interaction.It includes following module: data acquisition and procession module, for acquiring and handling laser radar serial data, by the way that the method for cluster calculation obtains effective coordinate again after classifying to radar serial data；Coordinate transferring, for being screen coordinate by effective coordinate transformation；Touch-control module, output and identification for screen coordinate；Locating module is interacted for output screen coordinate with realization；Local area network control module is transmitted and is broadcasted for data.Laser radar touch technology is used for large-screen interactive by the present invention, and overcome the technical problem that radar data not can be used directly, by first classifying, the method clustered again obtains accurately valid data, improve software development efficiency and stability, reusability is strong, software data independence is very high, and more radar superpositions may be implemented and use, facilitate expansion.
Description
Technical field
The invention belongs to human-computer interaction technique fields, specifically, being related to a kind of large screen based on laser radar positioning
Interactive system.
Background technique
The large screens such as wall curtain and ground curtain use advanced computer technology, can build a kind of interaction body of magical innervation
It tests, the novel effect such as generates many animations, rotate, wave.Their technique of expression is flexible, the novel fashion of picture, sound
Sound is combined with animation, can effectively attract the sight of audient, in the place raising turn-head-rate that the crowd is dense, flow of the people is big and averagely
Browsing time can be very good active atmosphere, increase scientific and technological content, improve live popularity degree, attract pedestrian to stop ornamental, significantly
Improve brand recognition and memory degree.But the ground curtain, wall curtain majority of large size are carried out mutually using camera or somatosensory device at present
Dynamic interaction, not enough and hardware configuration requires the problems such as high there is the high, detection sensitivity to environmental requirement.
Laser radar touch technology forms radial laser scanning face using laser radar detection device, by described in detection
Touch action on scanning surface and then the positional relationship for positioning one or more touch points, relative to traditional infrared, camera or
Body-sensing technology, strong antijamming capability insensitive to the light of environment.But radar scanning acquisition data volume is huge, containing a large amount of
Invalid data, cannot be directly used to software development.
Publication No. CN108648277A, publication date are that the Chinese invention patent application on October 12nd, 2018 discloses one
The range data and 2-D vibration mirror that the fast reconstructing method of kind laser radar point cloud data, first acquisition laser radar are sent are sent
Angle-data, be converted to three-dimensional point cloud coordinate, and be formatted operation；Then cluster label is carried out to point cloud data and intended
It closes, to reject outlier；Then traversal adjacent scanning lines find reference line, and with two reference lines for one group of carry out triangle gridding
Change；It finally combines triangle gridding and the object model illumination parameter of setting to carry out colouring rendering, completes object reconstruction.The present invention is kept away
The cavity effect of conventional method is exempted from, and has had that speed is fast, precision is high and the outstanding advantages such as robustness is good.The patent is not
Carry out effective data classification and region recognition.
Summary of the invention
1, it to solve the problems, such as
Big for existing laser radar output data quantity, data decoding algorithm is complicated, and not can be used directly and open in software
The problem of hair demand, the present invention provides a kind of large-screen interactive systems based on laser radar positioning.The present invention uses unified
API and data structure, improve software development efficiency and stability, reusability is strong, and software data independence is very high, can
To realize that more radar superpositions use, facilitate expansion.
2, technical solution
To solve the above problems, the present invention adopts the following technical scheme that.
A kind of large-screen interactive system based on laser radar positioning, including following module:
(1) data acquisition and procession module, for acquiring and handling laser radar serial data, then again by radar
The method of cluster calculation again obtains effective coordinate after serial data is classified；
(2) coordinate transferring, for being screen coordinate by effective coordinate transformation；
(3) touch-control module, output and identification for screen coordinate；
(4) locating module is interacted for output screen coordinate with realization；
(5) local area network control module is transmitted and is broadcasted for data.
As prioritization scheme, data acquisition and procession module is used to acquire and handle the specific behaviour of laser radar serial data
It is as follows to make process:
S11, starting background thread, obtain radar serial data in real time, after the arrival of radar serial data, decode radar string
Mouth data；
S12, obtained radar serial data is verified and is parsed, obtain radar scanning plane scanning coordinate (x,
Y):
Angle parses Anglei=(AngleS-AngleE) * (i -1)+Angle1
Distance parsing Distancei=((Dis_q2_LL < < 8)+Dis_q2_HH)/4
X=Distancei*Cos(π*Anglei/180)
Y=Distancei*Sin(π*Anglei/180)
AngleS is initial angle, and AngleE is ending corner, and i is number of samples；Range data acquisition passes through two byte numbers
According to obtaining, Dis_q2_LL < < 8 is high eight-bit data Dis_q2 [14:7], Dis_q2_HH includes low seven data Dis_q2
The fixed value of [6:0] and data check bit C, C are 1；
S13, obtained scanning coordinate (x, y) is stored into data structure, is pressed into queue；When a frame data are completed to receive
When, activation background thread handles a frame data.
As prioritization scheme, the acquisition and processing module pass through cluster calculation again after classifying to radar serial data
Method obtain effective coordinate (x1,y1) specific operation process it is as follows:
S14, the scanning coordinate (x, y) in the frame data being collected into is converted into physical coordinates (x1,y1), detailed process
Are as follows:
When radar direction of rotation angle is 0 ° to 90 °, x1=x, y1=-y；
When radar direction of rotation angle is 90 ° to 180 °, x1=-x, y1=-y；
When radar direction of rotation angle is 180 ° to 270 °, x1=-x, y1=y；
When radar direction of rotation angle is 270 ° to 360 °, x1=x, y1=y；
S15, using sorting algorithm to the physical coordinates (x after conversion1,y1) carry out sub-clustering, the physical coordinates after obtaining sub-clustering
(x2,y2), detailed process are as follows:
(1) to physical coordinates (x1,y1) be grouped at random, initial distance threshold value T2 is calculated, the T2 is each physical coordinates
The average value of distance between (x2, y2)；
(2) in physical coordinates (x1,y1) in arbitrarily select datum mark (x0,y0), calculating benchmark point coordinate (x0,y0) and other
Physical coordinates (x1,y1) the distance between d；
(3) d is less than the physical coordinates (x of T21,y1) from candidate centers move into an aggregate of data；
(4) the 2nd, 3 steps are so repeated, by physical coordinates (x1,y1) the different aggregate of data of typing, until the object of candidate centers
Manage coordinate (x1,y1) it is sky, algorithm terminates；
By constantly being traversed to physical coordinates, the aggregate of data quantity K of physical coordinates set is obtained；
S16, using clustering algorithm to the physical coordinates (x after sub-clustering2,y2) center of gravity calculation is carried out, obtain effective coordinate (x3,
y3)。
As prioritization scheme, before scanning coordinate is converted into physical coordinates, the data acquisition and procession module according to
Screen calibration parameter screens the frame data received, filters out interference and invalid data.
As prioritization scheme, the specific operation process of coordinate transferring is as follows:
By mapping relations, by effective coordinate (x3,y3) be converted to screen coordinate (x4,y4)；
Concrete operation relationship is as follows:
It touches calibration and calculates spaceP=Kmeans (spacePn)；
Coordinate mapping relations MappingRatio=((ScreenW -100)/spacePUPx+ (ScreenW -100)/
spacePDownx))/2；
(x4,y4)=MappingRatio* (x3,y3)；
spacePnThe set of all effective coordinates of calibration period triggering is touched for one, spaceP is all effective seats
Target center of gravity, Kmeans are clustering algorithm；ScreenW is screen pixels width, and 100 be the pixel wide of calibration point when calibrating,
SpacePUPx is that X-axis maps ratio above screen, and spacePDownx is that X-axis maps ratio below screen.
As prioritization scheme, the specific operation process of touch-control module is as follows:
S31, judge whether screen coordinate supports multi-point touch, when the screen coordinate supports multi-point touch, carry out multiple spot
Touch data algorithm；When the screen coordinate does not support multi-point touch, single-touch data algorithm is carried out, passes through data algorithm point
Analysis obtains the touch data of single-point touch and multi-point touch；
S32, judge whether touch data can be carried out virtual mouse simulation again, if touch data is able to carry out mouse mould
It is quasi-, carry out mouse emulation output, if touch data not can be carried out mouse emulation, be output to api interface carry out using.
As prioritization scheme, the screen coordinate of the positioning system utilizes the NET chart class library of ZedGraph open source
Orthogonal coordinate system exports screen coordinate for radar cloud point.
As prioritization scheme, the local area network control module uses UDP message agreement transmission broadcast radar data.
3, beneficial effect
Compared with the prior art, the invention has the benefit that
(1) laser radar touch technology is used for large-screen interactive by the present invention, and overcoming radar data can not be direct
The technical problem of application, by first classifying, the method that clusters again obtains accurately valid data, improve software development efficiency with
Stability, reusability is strong, and software data independence is very high, and more radar superpositions may be implemented and use, facilitate expansion.The present invention
The reusability for improving software realizes the superposition of laser radar physics, can obtain efficiently accurately location information, gives large-size screen monitors
Interactive class system software provides the interactive information acquisition of real-time and precise.
(2) present invention can be weighed first with sorting algorithm by using simple, efficiently distance calculating method divides the data into
Folded subset recycles clustering algorithm to appear in the same clustering algorithm by accurate, strict distance calculating method to calculate
In all data vectors distance, the present invention used two kinds apart from calculation, because only calculating lap simultaneously
Data vector, so having achieved the purpose that reduce calculation amount.
Data acquisition and procession module uses multithreading and thread communication technology, waits wake-up mechanism and line using thread
Journey safe practice realizes multithreading and co-operates a data, has reached and the real-time of radar data is allowed to obtain and data processing
Progress can be synchronized.Using sorting algorithm, clustering algorithm, while data are separated, are screened and operation, obtains valid data
While, it is more convenient to handle.
(3) since the physical coordinates that radar provides will receive the interference of installation accuracy, it is inclined that very big angle may be generated
Difference, even small angle error bring error of coordinate, will also will lead to the offset of touch location, so being not only to need object
Manage the coordinate conversion of coordinate pair screen coordinate, it is also necessary to which offset acquisition, operation and the conversion of coordinate can just bring better touching
Touch precision.
(4) screen coordinate is exported as radar cloud point, facilitates developer to understand radar fix system, is believed using radar fix
Breath.
(5) local area network control module has used UDP message agreement to design higher versatility, a kind of connectionless
Transport protocol, postpones that small, data transmission efficiency is high in data transmission procedure, using simple；And it can use udp broadcast spy
Point, radar data is broadcasted, and reaching recipient can receive multiplex broadcasting data, realizes the expansibility of height, side
Just the superposition of radar uses.
Detailed description of the invention
Fig. 1 is operational flowchart of the invention；
Fig. 2 is the work flow diagram of data acquisition and procession module；
Fig. 3 is the work flow diagram of coordinate transferring；
Fig. 4 is the work flow diagram of touch-control module.
Specific embodiment
Present invention will now be described in detail with reference to the accompanying drawings..
Embodiment 1
A kind of large-screen interactive system based on laser radar positioning, as shown in Figure 1, using YDLIDAR G4 laser radar
Data are acquired, interactive system includes following module:
(1) data acquisition and procession module, for acquiring and handling laser radar serial data, then again by radar
The method of cluster calculation again obtains effective coordinate after serial data is classified；Detailed process is as follows, as shown in Figure 2:
S11, starting background thread, obtain radar serial data in real time, after the arrival of radar serial data, decode radar string
Mouth data；
S12, obtained radar serial data is verified and is parsed, obtain scanning coordinate (x, y):
Angle parses Anglei=(AngleS-AngleE) * (i -1)+Angle1
Distance parsing Distancei=((Dis_q2_LL < < 8)+Dis_q2_HH)/4
X=Distancei*Cos(π*Anglei/180)
Y=Distancei*Sin(π*Anglei/180)
AngleS is initial angle, and AngleE is ending corner, and i is number of samples；Range data acquisition passes through two byte numbers
According to obtaining, Dis_q2_LL < < 8 is high eight-bit data Dis_q2 [14:7], Dis_q2_HH includes low seven data Dis_q2
The fixed value of [6:0] and data check bit C, C are 1；
It can acquire and adopt by trigonometric function cosine relation by the range data and angular relationship in parsing sampled data
Sample data x-axis coordinate can acquire sampled data y-axis coordinate by trigonometric function sine relation.
S13, obtained scanning coordinate (x, y) is stored into data structure, is pressed into queue；When a frame data are completed to receive
When, activation background thread handles a frame data.
It is at this time zero-bit Data packet when receiving in data packet sampled data output i is 1, judges to complete a frame data with this
Structure.
Acquisition and processing module are by the way that the method for cluster calculation obtains effectively seat again after classifying to radar serial data
Mark (x1,y1) specific operation process it is as follows:
S14, the scanning coordinate in the frame data being collected into is converted into physical coordinates (x1,y1), detailed process are as follows:
Defined according to Radar Calibration, radar graticule positive direction be 0 degree angle, rotated counterclockwise by angle increase, revolve turn around for
360°；
When radar direction of rotation angle is 0 ° to 90 °, x-axis coordinate data are taken just, and y-axis coordinate data take negative；
When radar direction of rotation angle is 90 ° to 180 °, x-axis coordinate data take negative, and y-axis coordinate data take negative；
When radar direction of rotation angle is 180 ° to 270 °, x-axis coordinate data take negative, and y-axis coordinate data take just；
When radar direction of rotation angle is 270 ° to 360 °, x-axis coordinate data are taken just, and y-axis coordinate data take just；
X is acquired by sampled data, y coordinate data is directionless data, needs to judge x, y-coordinate side according to angle-data
To being determined by radar direction of rotation angle.
S15, using sorting algorithm to the physical coordinates (x after conversion1,y1) carry out sub-clustering, the physical coordinates after obtaining sub-clustering
(x2,y2), detailed process are as follows:
(1) to physical coordinates (x1,y1) be grouped at random, initial distance threshold value T2 is calculated, the T2 is each physical coordinates
The average value of distance between (x2, y2)；
(2) in physical coordinates (x1,y1) in arbitrarily select datum mark (x0,y0), calculating benchmark point coordinate (x0,y0) and other
Physical coordinates (x1,y1) the distance between d；
(3) the physical coordinates (x after sub-clustering of the d less than T21,y1) from candidate centers move into aggregate of data A quantity；
(4) the 2nd, 3 steps, physical coordinates (x of the logging data cluster (B, C, D, E ...) until candidate centers are so repeated1,y1)
For sky, algorithm terminates；
By constantly being traversed to physical coordinates, set number is estimated after obtaining the canopy sub-clustering of physical coordinates set
Measure K；
S16, using clustering algorithm to the physical coordinates (x after sub-clustering2,y2) center of gravity calculation is carried out, obtain effective coordinate (x3,
y3)。
In clustering algorithm Kmeans (Data, K), K value needs to specify manually, and K value determines number of clusters, for general
Application problem (being substantially small data quantity) is all soluble, but when data volume becomes very big, just be cannot achieve.
Radar trigger data amount is big, region is wide, to complete the identification of multiple spot and multi-panel, is difficult directly to apply clustering algorithm to progress data
Processing, the present invention is first with sorting algorithm, by using simple, efficiently distance calculating method divides the data into the son that can be overlapped
Collection；It recycles sorting algorithm (canopy), is calculated by accurate, strict distance calculating method and appear in the same cluster calculation
The distance of all data vectors in method, the present invention have used two kinds apart from calculation, because only calculating lap simultaneously
Data vector, so achieved the purpose that reduce calculation amount.
This module uses multithreading and thread communication technology, waits wake-up mechanism and thread-safe technology using thread,
It realizes multithreading and co-operates a data, reached and allowed the real-time acquisition of radar data and data processing being capable of same stepping
Row.Using sorting algorithm, clustering algorithm, while data are separated, are screened and operation, while obtaining valid data, place
It is more convenient to manage.
The present invention is before scanning coordinate is converted into physical coordinates, and data acquisition and procession module is according to screen calibration parameter
The frame data received are screened, interference and invalid data are filtered out.
(2) coordinate transferring, for being screen coordinate by effective coordinate transformation；
(3) touch-control module, output and identification for screen coordinate；
(4) locating module is interacted for output screen coordinate with realization；
The screen coordinate set of positioning system utilizes the .NET chart class library orthogonal coordinate system of ZedGraph open source, will
The output of screen coordinate set is radar cloud point.Facilitate developer to understand radar fix system, uses radar fix information.
(5) local area network control module is transmitted and is broadcasted for data；
Local area network control module transmits broadcast radar data using UDP message agreement, and local area network control module is in order to design
Higher versatility, has used UDP message agreement, and a kind of connectionless transport protocol postpones small, number in data transmission procedure
According to efficiency of transmission height, using simple.And it can use udp broadcast feature, radar data be broadcasted, reaching recipient can
To receive multiplex broadcasting data, the expansibility of height is realized, the superposition of radar is facilitated to use.
Embodiment 2
The scheme of embodiment 2 is substantially the same manner as Example 1, and difference is only that the specific operation process of coordinate transferring such as
Under, as shown in Figure 3:
S21, pass through mapping relations, by effective coordinate (x3,y3) be converted to screen coordinate (x4,y4)；
Start screen calibration, according to different system screen resolution ratio, obtains the calibration data (X of 4 angular coordinate of screen0, Y0),
(X0, Y1),(X1, Y0),(X1, Y1), four angular coordinate offset correction parameter operation and the mapping of physical coordinates and screen coordinate are closed
System calculates, and software obtains screen resolution, and screen coordinate is than the weight that physical coordinates are that 4 angular coordinate of screen uses offset parameter
It is new to calculate, effective 4 angular coordinate data of screen are obtained, calibration data is obtained；
Concrete operation relationship is as follows:
The benchmark for just thering is coordinate mutually to convert firstly the need of progress screen calibration；
It touches calibration and calculates spaceP=Kmeans (spacePn)；
spacePnThe set of all effective coordinates of calibration period triggering is touched for one, spaceP is all effective seats
Target center of gravity, Kmeans are clustering algorithm, find out spaceP using Kmeans；
Coordinate mapping relations MappingRatio=((ScreenW -100)/spacePUPx+ (ScreenW -100)/
spacePDownx))/2；
In order to facilitate calibration process, when aiming screen size, has used 100 pixel wides as calibration point, calibration process
Produce the error for there are 100 pixels with actual screen size；ScreenW is screen pixels width, and 100 be calibration point when calibrating
Pixel wide, spacePUPx are that X-axis maps ratio above screen, and spacePDownx is that X-axis maps ratio below screen, is acquired up and down
Mapping is than mean value as mapping relations MappingRatio；
(x4,y4)=MappingRatio* (x3,y3)；
Effective coordinate (x of radar output3,y3) mapping relations calculating is carried out, obtain screen coordinate (x4,y4)；
(x4,y4)=((x4,y4)≤ScreenP.Max)? (x4,y4):ScreenP.Max；
(x4,y4)=((x4,y4) >=ScreenP.Min)? (x4,y4):0；
Screen coordinate carries out scope limitation (guaranteeing output coordinate range inside screen ranges)；
ScreenP=(spaceP -50)/4 angular coordinate of MappingRatio screen calculates, and for limiting coordinate range, uses
The clamper of coordinate data when large-size screen monitors interact after calibration guarantees large-size screen monitors interaction data within the scope of given 4 angular coordinate of screen；
Since the physical coordinates that radar provides will receive the interference of installation accuracy, very big angular deviation may be generated,
Even small angle error bring error of coordinate, will also will lead to the offset of touch location, so being not only to need physics
The coordinate of coordinate pair screen coordinate is converted, it is also necessary to which offset acquisition, operation and the conversion of coordinate can just bring better touch
Precision.
Embodiment 3
The scheme of embodiment 3 is substantially the same manner as Example 2, and difference is only that the specific operation process of touch-control module is as follows,
It is as shown in Figure 4:
S31 judges whether the screen coordinate that coordinate transferring obtains supports multi-point touch, when screen coordinate support is more
When point touch-control, multi-touch data algorithm is carried out；When the screen coordinate does not support multi-point touch, the calculation of single-touch data is carried out
Method is analyzed by data algorithm, obtains the touch data of single-point touch and multi-point touch；
Touch-control identification: carrying out double buffering to screen coordinate data structure, carries out coordinate points distance operation using two frame data,
And stabbed and compared by packet time, it is whether coherent effectively to judge touch-control, and then track touch data, identification touch-control tracking is led to
It crosses ID and carries out screen coordinate packet marking.
S32, judge whether touch data can be carried out virtual mouse simulation again, be able to carry out the touch data of mouse emulation into
Row mouse emulation output, not can be carried out mouse emulation touch data be output to api interface carry out using；
Output module: serializing screen coordinate data packet, the popular general JSON string data packet of conversion, and
Coding sends UDP network data.The application relatively simple to demand, we provide configurable simulation mouse functions and interior
Screen coordinate data packet is directly converted to mouse coordinates information by portion, and realizes that simulation mouse triggers function by WindowsAPI
Energy.
Single-point is abandoned in late design, touch data is exported in the form of general type aggregate list.Software asks for required function.
Claims (8)
1. a kind of large-screen interactive system based on laser radar positioning, which is characterized in that including following module:
(1) data acquisition and procession module, for acquiring and handling laser radar serial data, then again by radar serial ports
The method of cluster calculation again obtains effective coordinate after data are classified；
(2) coordinate transferring, for being screen coordinate by effective coordinate transformation；
(3) touch-control module, output and identification for screen coordinate；
(4) locating module is interacted for output screen coordinate with realization；
(5) local area network control module is transmitted and is broadcasted for data.
2. a kind of large-screen interactive system based on laser radar positioning according to claim 1, which is characterized in that data
It is as follows to acquire the specific operation process for being used to acquire and handle laser radar serial data with processing module:
S11, starting background thread, obtain radar serial data in real time, after the arrival of radar serial data, decode radar serial ports number
According to；
S12, obtained radar serial data is verified and is parsed, obtain the scanning coordinate (x, y) of radar scanning plane:
Angle parses Anglei=(AngleS-AngleE) * (i -1)+Angle1
Distance parsing Distancei=((Dis_q2_LL < < 8)+Dis_q2_HH)/4
X=Distancei*Cos(π*Anglei/180)
Y=Distancei*Sin(π*Anglei/180)
AngleS is initial angle, and AngleE is ending corner, and i is number of samples；Range data acquisition by two byte datas come
Obtain, Dis_q2_LL < < 8 be high eight-bit data Dis_q2 [14:7], Dis_q2_HH includes low seven data Dis_q2 [6:0]
Fixed value with data check bit C, C is 1；
S13, obtained scanning coordinate (x, y) is stored into data structure, is pressed into queue；When a frame data are completed to receive,
Background thread is activated to handle a frame data.
3. a kind of large-screen interactive system based on laser radar positioning according to claim 2, which is characterized in that described
Acquisition and processing module are by the way that the method for cluster calculation obtains effective coordinate (x again after classifying to radar serial data1,y1)
Specific operation process it is as follows:
S14, the scanning coordinate (x, y) in the frame data being collected into is converted into physical coordinates (x1,y1), detailed process are as follows:
When radar direction of rotation angle is 0 ° to 90 °, x1=x, y1=-y；
When radar direction of rotation angle is 90 ° to 180 °, x1=-x, y1=-y；
When radar direction of rotation angle is 180 ° to 270 °, x1=-x, y1=y；
When radar direction of rotation angle is 270 ° to 360 °, x1=x, y1=y；
S15, using sorting algorithm to the physical coordinates (x after conversion1,y1) carry out sub-clustering, the physical coordinates (x after obtaining sub-clustering2,
y2), detailed process are as follows:
(1) to physical coordinates (x1,y1) be grouped at random, calculate initial distance threshold value T2, the T2 be each physical coordinates (x2,
Y2 the average value of distance between)；
(2) in physical coordinates (x1,y1) in arbitrarily select datum mark (x0,y0), calculating benchmark point coordinate (x0,y0) and other physics
Coordinate (x1,y1) the distance between d；
(3) d is less than the physical coordinates (x of T21,y1) from candidate centers move into an aggregate of data；
(4) the 2nd, 3 steps are so repeated, by physical coordinates (x1,y1) the different aggregate of data of typing, until the physics of candidate centers is sat
Mark (x1,y1) it is sky, algorithm terminates；
By constantly being traversed to physical coordinates, the aggregate of data quantity K of physical coordinates set is obtained；
S16, using clustering algorithm to the physical coordinates (x after sub-clustering2,y2) center of gravity calculation is carried out, obtain effective coordinate (x3,y3)。
4. a kind of large-screen interactive system based on laser radar positioning according to claim 3, which is characterized in that sweeping
It retouches coordinate to be converted into before physical coordinates, the data acquisition and procession module is according to screen calibration parameter to the frame number received
According to being screened, interference and invalid data are filtered out.
5. a kind of large-screen interactive system based on laser radar positioning according to claim 1, which is characterized in that coordinate
The specific operation process of conversion module is as follows:
By mapping relations, by effective coordinate (x3,y3) be converted to screen coordinate (x4,y4)；
Concrete operation relationship is as follows:
It touches calibration and calculates spaceP=Kmeans (spacePn)；
Coordinate mapping relations MappingRatio=((ScreenW -100)/spacePUPx+ (ScreenW -100)/
spacePDownx))/2；
(x4,y4)=MappingRatio* (x3,y3)；
spacePnThe set of all effective coordinates of calibration period triggering is touched for one, spaceP is the weight of all effective coordinates
The heart, Kmeans are clustering algorithm；ScreenW is screen pixels width, and 100 be the pixel wide of calibration point when calibrating,
SpacePUPx is that X-axis maps ratio above screen, and spacePDownx is that X-axis maps ratio below screen.
6. a kind of large-screen interactive system based on laser radar positioning according to claim 1, which is characterized in that touch-control
The specific operation process of module is as follows:
S31, judge whether screen coordinate supports multi-point touch, when the screen coordinate supports multi-point touch, carry out multiple point touching
Data algorithm；When the screen coordinate does not support multi-point touch, single-touch data algorithm is carried out, is analyzed by data algorithm,
Obtain the touch data of single-point touch and multi-point touch；
S32, judge whether touch data can be carried out virtual mouse simulation again, if touch data is able to carry out mouse emulation, into
Row mouse emulation output, if touch data not can be carried out mouse emulation, be output to api interface carry out using.
7. a kind of large-screen interactive system based on laser radar positioning according to claim 1, which is characterized in that described
The screen coordinate of positioning system utilizes the NET chart class library orthogonal coordinate system of ZedGraph open source, and screen coordinate is exported
For radar cloud point.
8. a kind of large-screen interactive system based on laser radar positioning according to claim 1, which is characterized in that described
Local area network control module uses UDP message agreement transmission broadcast radar data.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110569788A (en) * | 2019-09-06 | 2019-12-13 | 南京象皮尼科技有限公司 | system and method for measuring and calculating intelligent training indexes of infant body |
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| CN112035016A (en) * | 2020-09-03 | 2020-12-04 | 浙江长芯光电科技有限公司 | Novel multi-point touch interaction system and method based on laser radar |
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| CN111142707A (en) * | 2019-12-27 | 2020-05-12 | 北京德火科技有限责任公司 | Touch control method for oversized LED screen |
| CN111142707B (en) * | 2019-12-27 | 2023-11-07 | 北京德火科技有限责任公司 | Ultra-large LED screen touch control method |
| CN111831162B (en) * | 2020-07-23 | 2023-10-10 | 吕嘉昳 | Writing brush shape correction method based on touch screen |
| CN111831162A (en) * | 2020-07-23 | 2020-10-27 | 吕嘉昳 | Writing brush shape correction method based on touch screen |
| CN112035281A (en) * | 2020-08-31 | 2020-12-04 | 安徽江淮汽车集团股份有限公司 | Multi-laser radar data output method, device, equipment and storage medium |
| CN112035016A (en) * | 2020-09-03 | 2020-12-04 | 浙江长芯光电科技有限公司 | Novel multi-point touch interaction system and method based on laser radar |
| CN112774181A (en) * | 2021-01-11 | 2021-05-11 | 浙江星汉云图人工智能科技有限公司 | Radar data processing method, processing system and computer storage medium |
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| CN113836095A (en) * | 2021-09-26 | 2021-12-24 | 广州极飞科技股份有限公司 | Point cloud data storage method and device, storage medium and electronic equipment |
| CN114114178A (en) * | 2021-12-10 | 2022-03-01 | 南京邮电大学 | Calibration device for radar and video image |
| CN117055756A (en) * | 2023-08-15 | 2023-11-14 | 上海先之多媒体科技有限公司 | Projection interaction system based on radar |
| CN117041512A (en) * | 2023-10-09 | 2023-11-10 | 武汉工程大学 | Real-time transmission and visual communication system for road surface three-dimensional information detection data |
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