CN110969678B - Drawing method, device, terminal equipment and storage medium for tiled circles - Google Patents
Drawing method, device, terminal equipment and storage medium for tiled circles Download PDFInfo
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- CN110969678B CN110969678B CN201911122314.8A CN201911122314A CN110969678B CN 110969678 B CN110969678 B CN 110969678B CN 201911122314 A CN201911122314 A CN 201911122314A CN 110969678 B CN110969678 B CN 110969678B
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000010422 painting Methods 0.000 claims abstract description 63
- 238000012545 processing Methods 0.000 claims abstract description 23
- 239000003973 paint Substances 0.000 claims abstract description 9
- 238000004590 computer program Methods 0.000 claims description 24
- 230000006870 function Effects 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
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Abstract
The invention discloses a drawing method, a drawing device, terminal equipment and a storage medium for a tiled circle, wherein the drawing method comprises the following steps: acquiring an original image and carrying out gray processing on the original image to obtain a gray image; dividing each image pixel point into each preset gray interval according to the gray value of each image pixel point in the gray image; wherein, each preset gray scale interval corresponds to a filling circle, and the diameters of the filling circles corresponding to different preset gray scale intervals are different; tiling and filling an image area formed by image pixel points positioned in the same preset gray scale interval by using a plurality of corresponding filling circles to generate a drawing path; and controlling the mechanical arm to paint on the painting carrier according to the painting path to obtain the painting corresponding to the original image. By implementing the embodiment of the invention, the painting robot can be controlled to paint in a flat circular mode, the painting works are displayed by combining a plurality of circles, and a new painting mode is provided for the painting robot.
Description
Technical Field
The present invention relates to the field of automatic drawing technologies, and in particular, to a tile circle drawing method, device, terminal equipment, and storage medium.
Background
Along with the development of science and technology, the application field of intelligent robots is more and more wide, intelligent robots are also widely applied in life, and robots capable of drawing pictures are welcomed by people.
When the existing painting robot is used for painting, the original image is directly drawn on the drawing paper by controlling the drawing pen through the mechanical arm, the painting effect displayed by the drawing robot is identical to that of the real object image, and the painting mode of the painting robot is single.
Disclosure of Invention
The embodiment of the invention provides a tiled circular painting method, a tiled circular painting device, terminal equipment and a storage medium, which can control a painting robot to paint in a tiled circular manner, and display painting works in a combination of a plurality of circles, so that a new painting manner is provided for the painting robot.
An embodiment of the present invention provides a drawing method for tiling a circle, including:
acquiring an original image and carrying out gray processing on the original image to obtain a gray image;
dividing each image pixel point into each preset gray interval according to the gray value of each image pixel point in the gray image; wherein, each preset gray scale interval corresponds to a filling circle, and the diameters of the filling circles corresponding to different preset gray scale intervals are different;
tiling and filling an image area formed by image pixel points positioned in the same preset gray scale interval by using a corresponding filling circle to generate a drawing path;
and according to the painting path, controlling the mechanical arm to paint on the painting carrier to obtain the painting corresponding to the original image.
Further, before the controlling the mechanical arm to draw on the drawing carrier according to the drawing path to obtain the pictorial representation corresponding to the original image, the method further includes: and generating an electronic version preview image according to the painting path.
Further, the diameter of the filling circle corresponding to the preset gray scale interval is in direct proportion to the interval gray scale value of the preset gray scale interval.
Further, the original image is subjected to gray scale processing to obtain a gray scale image, which specifically comprises:
calculating gray values of pixel points of each image in the original image through the following formula, and carrying out gray processing on the original image to obtain a gray image;
f(i,j)=0.30R(i,j)+0.59G(i,j)+0.11B(i,j);
wherein f (i, j) is a gray level conversion function, i, j represents the position of a pixel point in a two-dimensional space vector, namely an ith row and a jth column; r (i, j) is the R value in the RGB color mode of the pixel point of the ith row and the jth column; g (i, j) is a G value in the RGB color mode of the pixel point of the i-th row, j-th column; b (i, j) is the B value in the RGB color mode of the pixel point of the i-th row, j-th column.
On the basis of the method item embodiments, the invention correspondingly provides device item embodiments;
the embodiment of the invention provides a drawing device of a tiled circle, which comprises a gray processing module, a pixel point dividing module, a drawing path generating module and a drawing module;
the gray processing module is used for acquiring an original image and carrying out gray processing on the original image to obtain a gray image;
the pixel point dividing module is used for dividing each image pixel point into each preset gray interval according to the gray value of each image pixel point in the gray image; wherein, each preset gray scale interval corresponds to a filling circle, and the diameters of the filling circles corresponding to different preset gray scale intervals are different;
the drawing path generation module is used for tiling and filling an image area formed by image pixel points positioned in the same preset gray scale interval by using corresponding filling circles to generate a drawing path;
and the drawing module is used for controlling the mechanical arm to draw on the drawing carrier according to the drawing path to obtain a drawing work corresponding to the original image.
Further, the system also comprises an image preview module; the image preview module is used for generating an electronic version preview image according to the painting path.
On the basis of the method item embodiment, the invention provides a terminal equipment item embodiment
Another embodiment of the present invention provides a drawing terminal device for a tile circle, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor executes the computer program to implement the drawing method for a tile circle according to any one of the method embodiments of the present invention.
Providing a storage medium item embodiment on the basis of the method item embodiment of the invention;
another embodiment of the present invention provides a storage medium, where the storage medium includes a stored computer program, and when the computer program runs, controls a device where the storage medium is located to execute a drawing method for a tiled circle according to an embodiment of any one of the method embodiments of the present invention.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a drawing method, a drawing device, terminal equipment and a storage medium for a tiled circle, wherein the method comprises the steps of firstly obtaining an original image to be drawn, carrying out gray processing on the original image, and then dividing each image pixel into different preset gray intervals according to gray values of each image pixel in the gray image by the gray image, wherein each preset gray interval corresponds to a filling circle, and the different preset gray intervals correspond to a filling circle with a specification; the method comprises the steps that a region formed by image pixels in each preset gray scale interval is tiled by filling circles corresponding to the preset gray scale interval until the whole forming region is tiled, a plurality of circles are tiled for the region formed by each image pixel in each preset gray scale interval, and when the region formed by each image pixel in all preset gray scale intervals is tiled by circles, a drawing path of the whole image to be drawn can be generated, namely, all tiled circles are the drawing paths; finally, according to the painting path, the mechanical arm is controlled to paint on the painting carrier in a circle painting mode, and finally the corresponding painting works are obtained, so that the painting robot can be provided with the painting functions by using the flat circular painting mode, and the problem that the existing painting robot is single in painting mode is solved
Drawings
Fig. 1 is a flow chart of a drawing method for a tiled circle according to an embodiment of the invention.
Fig. 2 is a schematic diagram of a drawing method for a tiled circle according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a tiled circular drawing device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, a drawing method for a tiled circle according to an embodiment of the present invention includes:
step S101, acquiring an original image and carrying out gray processing on the original image to obtain a gray image.
Step S102, dividing each image pixel point into each preset gray scale interval according to the gray scale value of each image pixel point in the gray scale image; each preset gray scale interval corresponds to a filling circle, and the diameters of the filling circles corresponding to different preset gray scale intervals are different.
Step S103, tiling and filling the image areas formed by the image pixel points in the same preset gray scale interval by using a plurality of corresponding filling circles to generate a drawing path.
And step S104, controlling the mechanical arm to paint on the painting carrier according to the painting path to obtain the painting corresponding to the original image.
Firstly, it should be noted that the tiled circular painting method according to any embodiment of the present invention is suitable for painting robots.
For step 101, the original image to be drawn may be obtained through various terminal devices, such as a mobile phone, a computer, a tablet, etc., or the original image to be drawn may be selected through the stored data image data in the painting robot. After the original image is acquired, the original image is subjected to a gray-scale process to obtain a gray-scale image, and in a preferred embodiment, the original image is subjected to a gray-scale process by:
calculating gray values of pixel points of each image in the original image through the following formula, and carrying out gray processing on the original image to obtain a gray image;
f(i,j)=0.30R(i,j)+0.59G(i,j)+0.11B(i,j);
wherein f (i, j) is a gray level conversion function, i, j represents the position of a pixel point in a two-dimensional space vector, namely an ith row and a jth column; r (i, j) is the R value in the RGB color mode of the pixel point of the ith row and the jth column; g (i, j) is a G value in the RGB color mode of the pixel point of the i-th row, j-th column; b (i, j) is the B value in the RGB color mode of the pixel point of the i-th row, j-th column. According to the formula, the gray value of each pixel point of each image is calculated, and the range of the gray value is 0-255, so that the images are in black and white gray states.
In step S102, it is preferable to divide the gradation values of 0 to 255 from deep to shallow into a plurality of preset gradation sections in advance, and to set circles (i.e., the filled circles) having different diameters for each section.
In a preferred embodiment, the diameter of the filling circle corresponding to the preset gray scale interval is proportional to the interval gray scale value of the preset gray scale interval. That is, the smaller the section gray value, the smaller the diameter of the corresponding filled circle, and the larger the section gray value, the larger the diameter of the corresponding filled circle.
For example, the gray values of 0 to 255 are divided into a plurality of preset gray intervals with 30 to 50 as one segment: 0 to 30, 31 to 80, 81 to 130, 131 to 160, 161 to 200, 201 to 255.
And setting a circle with a preset specification size for each interval from small to large according to the diameter in sequence from small to large according to the sequence from 0 to 255 from deep to shallow corresponding circles, and carrying out area tiling. 0-30 is deepest, and corresponds to a circle with the minimum diameter size; 31-80 times, corresponding to a circle with a slightly larger diameter; sequentially increasing to set; leaving the area above 201 white;
because the different gray values represent different brightness effects in different areas in the original image, the brightness effect of the finally generated drawing image is controlled through tiling circles with different sizes, for a preset gray interval with a smaller interval gray value (which can be understood as the maximum gray value of the preset gray interval), the color of the area is darker, tiling with smaller circles is needed at the moment, then in the same size area, the smaller the diameter of the filled circles is, the more the number of the filled circles is, and finally, compared with the area filled with the filled circles with the larger diameter, the finally overall display effect is darker, so that the brightness effect of each area in the original image can be shown. In practical situations, the diameter of the filling circle corresponding to each preset gray scale interval can be set according to the size of the painting carrier (such as canvas and drawing paper) according to a certain proportion.
For step S103, after dividing each image pixel into different preset gray scale intervals, the diameter of the filling circle required for drawing the image area formed by the image pixel in each different preset gray scale interval can be known.
Specifically, in a preferred embodiment, the image areas formed by the image pixels located in the same preset gray scale interval are tiled in the order from top to bottom and from left to right (of course, the image areas formed by the image pixels located in the same preset gray scale interval may also be tiled in the order from bottom to top and from right to left, the specific order may be adaptively adjusted according to the actual situation), and the image areas formed by the image pixels located in the same preset gray scale interval are tiled and filled with a plurality of corresponding filling circles until the image areas are fully filled, where the filling circles tiled by the users are the drawing paths of the areas to be filled; in the above manner, the painting paths of the areas to be filled corresponding to the respective different preset gray intervals can be obtained, so that the painting paths of the painting works corresponding to the original images are generated.
In a preferred embodiment, when tiling with filled circles is performed, tiling may begin with the first pixel point of the area to be filled as a point on the circular arc of the first filled circle, in order from top to bottom, left to right (other orders are also possible).
And step S104, generating an electrical processing signal according to the painting path obtained in the step S103, and controlling the mechanical arm to clamp the painting brush to paint on the painting carrier. Wherein the painting carrier can be, but is not limited to, canvas, drawing paper, etc.;
in a preferred embodiment, when generating the electrical processing signal according to the drawing path, according to the coordinates of the pen-down point, the coordinates of the pen-up point, the pen-down times, the pen-up times, and the time required for the displacement distance of the mechanical arm when the path is drawn and then the path is transferred to the next path to start drawing, calculating the total time consumption of different drawing schemes, and selecting the drawing scheme with the least time consumption to generate the electrical processing signal to control the mechanical arm to clamp the drawing pen to draw on the drawing carrier. The imaging effect of the final pictorial representation is shown in FIG. 2
In a preferred embodiment, before said controlling the robotic arm to draw on the drawing carrier according to said drawing path to obtain the pictorial representation corresponding to said original image, further comprises: and generating an electronic version preview image according to the painting path. Specifically, the drawing path is scaled according to the drawing path and the size of the image display area in equal proportion, so that the drawing path is scaled to be set to a specified drawing area in the image display area, and an electronic version preview image is produced. The preview image of the electronic version is generated in advance before drawing, so that the user can refer to the preview image, and if the user feels unsatisfactory, the waste can be avoided by terminating the drawing process.
Correspondingly providing an embodiment of the device item on the basis of the embodiment of the method item;
as shown in fig. 3, an embodiment of the present invention provides a tiled circular painting device, including: the system comprises a gray level processing module, a pixel point dividing module, a drawing path generating module and a drawing module;
the gray processing module is used for acquiring an original image and carrying out gray processing on the original image to obtain a gray image;
the pixel point dividing module is used for dividing each image pixel point into each preset gray interval according to the gray value of each image pixel point in the gray image; wherein, each preset gray scale interval corresponds to a filling circle, and the diameters of the filling circles corresponding to different preset gray scale intervals are different;
the drawing path generation module is used for tiling and filling an image area formed by image pixel points positioned in the same preset gray scale interval by using corresponding filling circles to generate a drawing path;
and the drawing module is used for controlling the mechanical arm to draw on the drawing carrier according to the drawing path to obtain a drawing work corresponding to the original image.
In a preferred embodiment, the system further comprises an image preview module; the image preview module is used for generating an electronic version preview image according to the painting path.
It can be understood that the above-mentioned device embodiment corresponds to the method embodiment of the present invention, and may implement the tile circle drawing method provided by any one of the method embodiments of the present invention.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the device provided by the invention, the connection relation between the modules represents that the modules have communication connection, and can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present invention without undue burden. The schematic diagram is merely an example of a tile-round drawing device and does not constitute a limitation of a tile-round drawing device, and may include more or fewer components than shown, or may combine certain components, or different components.
On the basis of the method item embodiment, a terminal equipment item embodiment is provided.
Another embodiment of the present invention provides a drawing terminal device for a tile circle, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor executes the computer program to implement the drawing method for a tile circle according to any one of the method embodiments of the present invention.
The computer program may be divided into one or more modules, which are stored in the memory and executed by the processor to accomplish the present invention, for example. The one or more module elements may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program in the drawing terminal device of the tile circle.
The tiled circular painting device may include, but is not limited to, a processor, a memory. Those skilled in the art will appreciate that the drawing terminal device, for example, of the tile circle, may also include input and output devices, network access devices, buses, and the like.
The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is a control center of the drawing terminal device of a tiled circle, and connects the respective parts of the drawing terminal device of the whole tiled circle using various interfaces and lines.
The memory may be used to store the computer program and/or module, and the processor may implement various functions of the tile-shaped drawing terminal device by running or executing the computer program and/or module stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
On the basis of the method item embodiment, a storage medium item embodiment is correspondingly provided;
an embodiment of the present invention provides a storage medium, where the storage medium includes a stored computer program, and when the computer program runs, controls a device where the storage medium is located to execute the drawing method of the tiled circle according to any one of the embodiments of the present invention.
The storage medium is a computer-readable storage medium. The module of the flat circular painting device/terminal device integration can be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
The embodiment of the invention has the following beneficial effects:
1. the drawing mode of drawing through tiling circular is provided for drawing robot, improves drawing creation's of drawing robot ability.
2. And filling the areas with different gray values through circles with different diameters, so that the brightness relationship between the painting works and the original image is kept consistent.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (8)
1. A method of tiling a circle of drawings, comprising:
acquiring an original image and carrying out gray processing on the original image to obtain a gray image;
dividing each image pixel point into each preset gray interval according to the gray value of each image pixel point in the gray image; wherein, each preset gray scale interval corresponds to a filling circle, the diameters of the filling circles corresponding to different preset gray scale intervals are different, and the diameters of the filling circles corresponding to the preset gray scale intervals are set according to the size of the painting carrier and the preset proportion;
tiling and filling an image area formed by image pixel points positioned in the same preset gray scale interval by using a plurality of corresponding filling circles to generate a drawing path;
and according to the painting path, controlling the mechanical arm to paint on the painting carrier to obtain the painting corresponding to the original image.
2. A tile circle painting method according to claim 1, and further comprising, before said controlling the robot arm to paint on the painting carrier in accordance with said painting path, obtaining a pictorial representation corresponding to said original image: and generating an electronic version preview image according to the painting path.
3. The drawing method of a tiled circle according to claim 1, wherein a diameter of the filled circle corresponding to the preset gray scale interval is proportional to an interval gray scale value of the preset gray scale interval.
4. A method of drawing a tile circle as claimed in claim 1, wherein the raw image is subjected to a gray scale process to obtain a gray scale image, in particular:
calculating the gray value of each pixel point in the original image through the following formula, and carrying out gray processing on the original image to obtain a gray image;
f(i,j)=0.30R(i,j)+0.59G(i,j)+0.11B(i,j) ;
wherein f (i, j) is a gray level conversion function, i, j represents the position of a pixel point in a two-dimensional space vector, namely an ith row and a jth column; r (i, j) is the R value in the RGB color mode of the pixel point of the ith row and the jth column; g (i, j) is a G value in the RGB color mode of the pixel point of the i-th row, j-th column; b (i, j) is the B value in the RGB color mode of the pixel point of the i-th row, j-th column.
5. Circular drawing device of tiling, its characterized in that includes: the system comprises a gray level processing module, a pixel point dividing module, a drawing path generating module and a drawing module;
the gray processing module is used for acquiring an original image and carrying out gray processing on the original image to obtain a gray image;
the pixel point dividing module is used for dividing each image pixel point into each preset gray interval according to the gray value of each image pixel point in the gray image; wherein, each preset gray scale interval corresponds to a filling circle, the diameters of the filling circles corresponding to different preset gray scale intervals are different, and the diameters of the filling circles corresponding to the preset gray scale intervals are set according to the size of the painting carrier and the preset proportion;
the drawing path generation module is used for tiling and filling an image area formed by image pixel points positioned in the same preset gray scale interval by using corresponding filling circles to generate a drawing path;
and the drawing module is used for controlling the mechanical arm to draw on the drawing carrier according to the drawing path to obtain a drawing work corresponding to the original image.
6. A tile circle painting device as claimed in claim 5, and further comprising an image preview module; the image preview module is used for generating an electronic version preview image according to the painting path.
7. A drawing terminal device of a tile circle comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the drawing method of a tile circle according to any one of claims 1 to 4 when the computer program is executed.
8. A storage medium comprising a stored computer program, wherein the computer program, when run, controls a device in which the storage medium is located to perform a method of drawing a tiled circle according to any one of claims 1 to 4.
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JP2011062994A (en) * | 2009-09-18 | 2011-03-31 | Seiko Epson Corp | Printing apparatus, printing method, and image processor |
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KR101516339B1 (en) * | 2011-01-31 | 2015-05-04 | 베이징 에레네벤 인포메이션 테크놀로지 씨오., 엘티디. | Method and device for implementing original handwriting and electronic device |
CN108876871B (en) * | 2018-06-15 | 2022-10-04 | 广东数相智能科技有限公司 | Image processing method and device based on circle fitting and computer readable storage medium |
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JPH08309565A (en) * | 1995-05-16 | 1996-11-26 | Toppan Printing Co Ltd | Laser drawing device |
JP2011062994A (en) * | 2009-09-18 | 2011-03-31 | Seiko Epson Corp | Printing apparatus, printing method, and image processor |
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