Virtual image imaging methods, devices and applications applicable to heterogeneous imaging surfaces

Abstract

This invention provides a virtual image imaging method, device, and application applicable to heterogeneous imaging surfaces. The solution constructs a corresponding three-dimensional model of the heterogeneous imaging surface in virtual space, performs self-occlusion calculation on the three-dimensional model of the heterogeneous imaging surface, and obtains the texture information projected onto the heterogeneous imaging surface through UV map processing. This solves the problem of image rendering on heterogeneous imaging surfaces and can realize image imaging from all angles.

Description

Technical Field

[0001] This application relates to the field of imaging, and in particular to a virtual image imaging method, apparatus and application applicable to heterogeneous imaging surfaces. Background Technology

[0002] VR visuals, through the use of computer systems and sensor technology to generate three-dimensional environments, create an unprecedented way of human-computer interaction. Because they can simulate the functions of human senses such as sight, hearing, and touch, viewers can immerse themselves in a virtual world and even view the surrounding scene in 360 degrees, thus providing a truly immersive experience. To create a viewable three-dimensional virtual environment for viewers, a virtual camera is used to provide a view of the rendered scene within the 3D environment. The virtual camera ultimately renders the three-dimensional scene into a series of two-dimensional images, allowing viewers to observe it through its viewport.

[0003] Camera processing calculations primarily involve two matrices: the first is the linear transformation matrix, which defines the position and orientation of scene objects; the second is the projection matrix, which projects 3D scene objects onto a 2D viewport. Existing technologies for rendering 3D images in virtual reality using virtual cameras employ the following approach: creating a single master camera controlled by a VR application, and adding two additional cameras simulating left and right eyes for rendering. These two simulated left and right eye cameras have a viewport width half the screen width and use special projection matrices to handle distortion issues. However, these traditional virtual cameras can only perform rendering calculations on rectangular planar windows and cannot effectively render on heterogeneous imaging surfaces.

[0004] For irregularly shaped imaging surfaces with relatively special rules, existing technologies can indeed describe them using curvature data in 1-2 dimensions, but they cannot be applied to more complex irregularly shaped imaging surfaces. Furthermore, existing anti-distortion algorithms, which are highly correlated with the geometry of the imaging surface, lack scalability, requiring the design of a separate matching anti-distortion algorithm for each imaging surface. Summary of the Invention

[0005] This application provides a virtual image imaging method, device, and application suitable for heterogeneous imaging surfaces, which solves the problem of image rendering on heterogeneous imaging surfaces and can realize image imaging from all angles.

[0006] In a first aspect, embodiments of this application provide a virtual image imaging method suitable for heterogeneous imaging surfaces, comprising the following steps:

[0007] Construct a three-dimensional model of the heterogeneous imaging surface in virtual space;

[0008] The three-dimensional model of the heterogeneous imaging surface is divided into multiple meshes;

[0009] For each frame of virtual image, obtain the observation coordinates of the observation point in the world coordinate system;

[0010] Draw a ray from the coordinate point to each mesh vertex, and take the first intersection point between the ray and the virtual scene corresponding to the virtual image. Obtain the color of the intersection point and assign it to the mesh vertex corresponding to the ray.

[0011] The UV map is obtained by performing UV unwrapping on the three-dimensional model of the heterogeneous imaging surface, and the colors of the mesh vertices are mapped onto the UV map to obtain texture information;

[0012] The texture information is output to the display device to project the virtual image onto the heterogeneous imaging surface.

[0013] Secondly, embodiments of this application provide a virtual image imaging device suitable for heterogeneous imaging surfaces, comprising:

[0014] The 3D model building unit is used to construct a 3D model of the heterogeneous imaging surface in virtual space.

[0015] A partitioning unit is used to divide the heterogeneous imaging surface 3D model into multiple meshes;

[0016] The observation point acquisition unit is used to acquire the observation coordinates of the observation point in the world coordinate system for each frame of virtual image.

[0017] The assignment unit is used to draw a ray from the coordinate point to each mesh vertex of the mesh, and take the first intersection point of the ray with the virtual scene corresponding to the virtual image, obtain the color of the intersection point and assign it to the mesh vertex corresponding to the ray;

[0018] The texture generation unit is used to perform UV unwrapping on the three-dimensional model of the heterogeneous imaging surface to obtain a UV map, and to map the colors of the mesh vertices onto the UV map to obtain texture information;

[0019] The projection unit is used to output the texture information to the display device to project the virtual image onto the heterogeneous imaging surface.

[0020] Thirdly, embodiments of this application provide an electronic device, including a memory and a processor, characterized in that the memory stores a computer program, and the processor is configured to run the computer program to execute the virtual image imaging method applicable to heterogeneous imaging surfaces.

[0021] Fourthly, embodiments of this application provide a readable storage medium storing a computer program, the computer program including program code for controlling a process to execute the process, the process including the virtual image imaging method applicable to heterogeneous imaging surfaces.

[0022] The main contributions and innovations of this invention are as follows:

[0023] This application provides a virtual image imaging method, device, and application applicable to heterogeneous imaging surfaces. The solution constructs a corresponding three-dimensional model of the heterogeneous imaging surface in virtual space, performs self-occlusion calculation on the three-dimensional model of the heterogeneous imaging surface, and obtains the texture information projected onto the heterogeneous imaging surface through UV map processing. This solves the problem of image rendering on heterogeneous imaging surfaces and can achieve full-view image imaging.

[0024] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0026] Figure 1 This is a flowchart of a virtual image imaging method applicable to heterogeneous imaging surfaces according to an embodiment of this application;

[0027] Figure 2 This is a structural block diagram of a virtual image imaging device applicable to heterogeneous imaging surfaces according to an embodiment of this application;

[0028] Figure 3 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0029] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with one or more embodiments of this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of one or more embodiments of this specification as detailed in the appended claims.

[0030] It should be noted that the steps of the corresponding methods are not necessarily performed in the order shown and described in this specification in other embodiments. In some other embodiments, the methods may include more or fewer steps than described in this specification. Furthermore, a single step described in this specification may be broken down into multiple steps in other embodiments; and multiple steps described in this specification may be combined into a single step in other embodiments.

[0031] Example 1

[0032] This solution provides a virtual image imaging method suitable for heterogeneous imaging surfaces, including the following steps:

[0033] Construct a three-dimensional model of the heterogeneous imaging surface in virtual space;

[0034] The three-dimensional model of the heterogeneous imaging surface is divided into multiple meshes;

[0035] For each frame of virtual image, obtain the observation coordinates of the observation point in the world coordinate system;

[0036] Draw a ray from the coordinate point to each mesh vertex, and take the first intersection point between the ray and the virtual scene corresponding to the virtual image. Obtain the color of the intersection point and assign it to the mesh vertex corresponding to the ray.

[0037] The UV map is obtained by performing UV unwrapping on the three-dimensional model of the heterogeneous imaging surface, and the colors of the mesh vertices are mapped onto the UV map to obtain texture information;

[0038] The texture information is output to the display device to project the virtual image onto the heterogeneous imaging surface.

[0039] The heteromorphic imaging surface involved in this solution refers to an irregular, closed imaging surface that can be modeled in 3D. It is important to note that the heteromorphic imaging surface in this solution cannot be self-intersecting. In the step of "constructing a 3D model of the heteromorphic imaging surface in virtual space," the heteromorphic imaging surface model is placed in a virtual scene according to the imaging scale requirements of the heteromorphic imaging surface. The 3D model of the heteromorphic imaging surface only needs to represent the actual heteromorphic imaging surface; it does not need to be a mathematical model but only a descriptive model output by 3D software.

[0040] In the step of "dividing the heterogeneous imaging surface 3D model into multiple meshes", the heterogeneous imaging surface 3D model is uniformly divided into multiple meshes according to the output resolution of the display device projecting the virtual image. Preferably, the number of vertices of the meshes in the heterogeneous imaging surface 3D model matches the number of pixels required by the output resolution. This has the advantage of enabling the display device to project the virtual image more clearly.

[0041] Because heterogeneous imaging surfaces are irregular and different observation points are located at different positions, the viewpoints on these surfaces may experience partial occlusion. Therefore, this solution optimizes the occluded view. Specifically, in the step of "drawing rays from the coordinate point to each vertex of the mesh," the mesh is self-occluded, and the unoccluded meshes are retained. Rays are then drawn from each vertex of the unoccluded meshes.

[0042] Specifically, in the step of "retaining the unoccluded mesh after self-occluding the mesh", the edge points of the mesh are obtained using the coordinate point as a reference point, and all edge points are connected to obtain closed curves. If there is only one closed curve, the entire mesh is retained; if there are at least two closed curves, the occlusion surface of each closed curve is removed sequentially from the innermost closed curve outwards to retain the unoccluded mesh.

[0043] The edge points of the mesh include mesh edge points, mesh abrupt change points, and mesh symmetry points. Mesh edge points are points where one side has a face and the other side does not. Mesh abrupt change points are points where the normal vectors of the faces on both sides are inconsistent and the tangent vector changes abruptly at that point. Mesh symmetry points are points where the normal and tangent vectors of the faces on both sides change uniformly, but the tangent vector of the point is in the same or opposite direction as the line connecting the point and the coordinate point. Generally, mesh edge points are considered to be points on the mesh edge. Mesh abrupt change points usually occur when there is a bend between faces, and mesh symmetry points usually occur when there are rounded corners between faces.

[0044] After obtaining all edge points, connect all edge points to obtain closed curves. If only one closed curve is obtained, it means that the mesh is not self-occluded, and the entire mesh is retained. However, if multiple closed curves are obtained, it means that the mesh is self-occluded. In this case, self-occlusion calculation needs to be performed on the closed surface formed by each closed curve to remove the self-occluded area.

[0045] In the step of "removing the occluding surfaces of each closed curve sequentially outward from the innermost closed curve to retain the unoccluded mesh", a cone is constructed with each closed curve as the base and the coordinate point as the vertex. While keeping the relative angle relationship of each structural line at the top of the cone unchanged, the cone is extended in a direction away from the coordinate point to obtain the cone range. Occluding surfaces located within the cone range that do not overlap with the closed surface formed by the closed curve are removed.

[0046] After removing self-occluded areas, a ray is drawn from the coordinate point to each mesh vertex to obtain a view frustum. This view frustum represents the viewpoint area observable from the observation point on the heterogeneous imaging surface model. To achieve virtual scene rendering, in the step of "taking the first intersection point between the ray and the virtual scene corresponding to the virtual image, obtaining the color of the intersection point and assigning it to the mesh vertex corresponding to the ray," the heterogeneous imaging surface model is located within the virtual scene. The first point in the virtual scene (excluding the heterogeneous imaging surface model) that intersects the ray is taken as the intersection point, and the color data of the intersection point is taken and assigned to the mesh vertex. It should be noted that the first intersection point between the ray and the virtual scene is not necessarily a mesh vertex; it could also be a point on a virtual object between the heterogeneous imaging surface and the observation point.

[0047] In some embodiments, the RGB color data of the intersection point is assigned to the vertex color attribute of the mesh vertex corresponding to the ray, at which point the color data of the mesh vertex is defined. The VertexColor attribute itself is an array with a capacity of 4. This solution directly interprets the VertexColor attribute as storing color data. In addition to RGB color data, the VertexColor attribute also contains an α channel that controls transparency. In some embodiments, the value of the α channel is 1 by default.

[0048] After assigning colors to all mesh vertices, the 3D model of the heterogeneous imaging surface is UV-unwrapped to obtain a UV map. UV can be understood as the horizontal and vertical coordinate system of the surface of the heterogeneous imaging surface 3D model. It is a coordinate transformation that unfolds a face of the heterogeneous imaging surface 3D model in 3D space into a 2D UV surface, so that every 3D point in 3D space has a unique corresponding 2D point on the 2D plane. It should be noted that in this scheme, when performing UV unwrapping on the heterogeneous imaging surface 3D model, the weights of the structural lines on the UV surface are assigned according to the degree of change per unit area of ​​the surface of the heterogeneous imaging surface 3D model. Generally, the more drastic the change per unit area, the higher the weight and the denser the structural lines. In addition, in order to know the effective information of each mesh vertex, this scheme also maps the colors of the mesh vertices to the UV map to obtain texture information.

[0049] In the step of "outputting the texture information to the display device to project the virtual image onto the heterogeneous imaging surface", the splicing method of the heterogeneous imaging surface is obtained, the three-dimensional model of the heterogeneous imaging surface is cut equally according to the splicing method, the projection of the boundary of the cut three-dimensional model of the heterogeneous imaging surface on the UV map is obtained as a mask, and the texture information covered by the mask is output to the display device for projection.

[0050] Specifically, the heterogeneous imaging surface is composed of multiple screens stitched together, with each screen corresponding to a sub-plane. When the system builds the 3D model of the heterogeneous imaging surface, it knows the stitching method and only needs to cut the 3D model according to the same stitching method. For example, if the actual heterogeneous imaging surface is composed of 10*10 screens of the same size, then the corresponding 3D model of the heterogeneous imaging surface is also cut into 10*10 planes of the same size. This ensures the image quality of the final projected virtual image.

[0051] Additionally, it should be noted that when there is only a single frame of non-distorted image, it is only necessary to obtain the current observation point and project the virtual image according to the above method. When there are multiple frames of virtual images, each frame of virtual image is processed according to this scheme to obtain the final image projected onto the distorted image surface.

[0052] Example 2

[0053] Based on the same concept, referencing Figure 3 This application also proposes a virtual image imaging device suitable for heterogeneous imaging surfaces, comprising:

[0054] The 3D model building unit is used to construct a 3D model of the heterogeneous imaging surface in virtual space.

[0055] A partitioning unit is used to divide the heterogeneous imaging surface 3D model into multiple meshes;

[0056] The observation point acquisition unit is used to acquire the observation coordinates of the observation point in the world coordinate system for each frame of virtual image.

[0057] The assignment unit is used to draw a ray from the coordinate point to each mesh vertex of the mesh, and take the first intersection point of the ray with the virtual scene corresponding to the virtual image, obtain the color of the intersection point and assign it to the mesh vertex corresponding to the ray;

[0058] The texture generation unit is used to perform UV unwrapping on the three-dimensional model of the heterogeneous imaging surface to obtain a UV map, and to map the colors of the mesh vertices onto the UV map to obtain texture information;

[0059] The projection unit is used to output the texture information to the display device to project the virtual image onto the heterogeneous imaging surface.

[0060] The technical content in Embodiment 2 that is the same as that in Embodiment 1 will not be repeated here.

[0061] Example 3

[0062] This embodiment also provides an electronic device, see reference. Figure 3 It includes a memory 304 and a processor 302, the memory 304 storing a computer program and the processor 302 being configured to run the computer program to perform the steps in any of the above embodiments of the virtual image imaging method applicable to heterogeneous imaging surfaces.

[0063] Specifically, the processor 302 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0064] The memory 304 may include a mass storage device for data or instructions. For example, and not limitingly, the memory 304 may include a hard disk drive (HDD), a floppy disk drive, a solid-state drive (SSD), flash memory, an optical disk drive, a magneto-optical disk drive, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 304 may include removable or non-removable (or fixed) media. Where appropriate, the memory 304 may be internal or external to a data processing device. In a particular embodiment, the memory 304 is non-volatile memory. In a particular embodiment, the memory 304 includes read-only memory (ROM) and random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable read-only memory (PROM), an erasable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), an electrically alterable read-only memory (EAROM), or flash memory, or a combination of two or more of these. Where appropriate, the RAM can be Static Random-Access Memory (SRAM) or Dynamic Random-Access Memory (DRAM). DRAM can be Fast Page Mode Dynamic Random-Access Memory (FPMDRAM), Extended Data Out Dynamic Random-Access Memory (EDODRAM), Synchronous Dynamic Random-Access Memory (SDRAM), etc.

[0065] The memory 304 can be used to store or cache various data files that need to be processed and / or communicated, as well as possible computer program instructions executed by the processor 302.

[0066] The processor 302 reads and executes computer program instructions stored in the memory 304 to implement any of the virtual image imaging methods applicable to heterogeneous imaging surfaces in the above embodiments.

[0067] Optionally, the electronic device may further include a transmission device 306 and an input / output device 308, wherein the transmission device 306 is connected to the processor 302 and the input / output device 308 is connected to the processor 302.

[0068] The transmission device 306 can be used to receive or send data via a network. Specific examples of the network described above may include wired or wireless networks provided by the communication provider of the electronic device. In one example, the transmission device includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 306 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0069] The input / output device 308 is used to input or output information. In this embodiment, the input information may be an irregularly shaped imaging surface, etc., and the output information may be a virtual image, etc.

[0070] Optionally, in this embodiment, the processor 302 can be configured to perform the following steps via a computer program:

[0071] Construct a three-dimensional model of the heterogeneous imaging surface in virtual space;

[0072] The three-dimensional model of the heterogeneous imaging surface is divided into multiple meshes;

[0073] For each frame of virtual image, obtain the observation coordinates of the observation point in the world coordinate system;

[0074] Draw a ray from the coordinate point to each mesh vertex, and take the first intersection point between the ray and the virtual scene corresponding to the virtual image. Obtain the color of the intersection point and assign it to the mesh vertex corresponding to the ray.

[0075] The UV map is obtained by performing UV unwrapping on the three-dimensional model of the heterogeneous imaging surface, and the colors of the mesh vertices are mapped onto the UV map to obtain texture information;

[0076] The texture information is output to the display device to project the virtual image onto the heterogeneous imaging surface.

[0077] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0078] Generally, various embodiments can be implemented in hardware or dedicated circuitry, software, logic, or any combination thereof. Some aspects of the invention can be implemented in hardware, while others can be implemented in firmware or software that can be executed by a controller, microprocessor, or other computing device, but the invention is not limited thereto. Although various aspects of the invention may be shown and described as block diagrams, flowcharts, or using some other graphical representation, it should be understood that, by way of non-limiting example, these blocks, apparatuses, systems, techniques, or methods described herein can be implemented in hardware, software, firmware, dedicated circuitry or logic, general-purpose hardware or controllers or other computing devices, or some combination thereof.

[0079] Embodiments of the present invention can be implemented by computer software, which may be executable by a data processor of a mobile device, such as a processor entity, or by hardware, or by a combination of software and hardware. Computer software or programs (also referred to as program products), including software routines, applets, and / or macros, can be stored in any device-readable data storage medium, and they include program instructions for performing specific tasks. A computer program product may include one or more computer-executable components configured to perform embodiments when the program is run. One or more computer-executable components may be at least one piece of software code or a portion thereof. Additionally, it should be noted that any block in the logical flow of the figures may represent a program step, or interconnected logical circuitry, blocks and functions, or a combination of program steps and logical circuitry, blocks and functions. The software may be stored on physical media such as memory chips or blocks of storage implemented within a processor, magnetic media such as hard disks or floppy disks, and optical media such as, for example, DVDs and their data variants, CDs, etc. The physical medium is a non-transient medium.

[0080] Those skilled in the art should understand that the technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0081] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A virtual image imaging method applicable to heterogeneous imaging surfaces, characterized in that, Includes the following steps: Construct a three-dimensional model of the heterogeneous imaging surface in virtual space; The three-dimensional model of the heterogeneous imaging surface is divided into multiple meshes; For each frame of virtual image, obtain the observation coordinates of the observation point in the world coordinate system; Using the coordinate points as reference points, obtain the edge points of the mesh. Connect all edge points to obtain closed curves. If there is only one closed curve, retain the entire mesh. If there are at least two closed curves, starting from the innermost closed curve, sequentially remove the occlusion surfaces of each closed curve outwards to retain the unoccluded mesh. Draw a ray from each mesh vertex on the unoccluded mesh, and take the first intersection point between the ray and the virtual scene corresponding to the virtual image. Obtain the color of the intersection point and assign it to the mesh vertex corresponding to the ray. The UV map is obtained by performing UV unwrapping on the three-dimensional model of the heterogeneous imaging surface, and the colors of the mesh vertices are mapped onto the UV map to obtain texture information; The texture information is output to the display device to project the virtual image onto the heterogeneous imaging surface.

2. The virtual image imaging method applicable to heterogeneous imaging surfaces according to claim 1, characterized in that, The edge points of the mesh include mesh edge points, mesh abrupt change points, and mesh symmetry points. The mesh edge points are points where one side has a face and the other side does not. The mesh abrupt change points are points where the normal vectors of the faces on both sides are inconsistent and the tangent vector changes abruptly at that point. The mesh symmetry points are points where the normal vectors and tangent vectors of the faces on both sides change uniformly, but the tangent vector of the point is in the same direction or opposite direction to the line connecting the point and the coordinate point.

3. The virtual image imaging method applicable to heterogeneous imaging surfaces according to claim 1, characterized in that, In the step of "removing the occluding surfaces of each closed curve sequentially outward from the innermost closed curve to retain the unoccluded mesh", a cone is constructed with each closed curve as the base and the coordinate point as the vertex. While keeping the relative angle relationship of each structural line at the top of the cone unchanged, the cone is extended in a direction away from the coordinate point to obtain the cone range. Occluding surfaces located within the cone range that do not overlap with the closed surface formed by the closed curve are removed.

4. The virtual image imaging method applicable to heterogeneous imaging surfaces according to claim 1, characterized in that, In the step of "taking the first intersection point between the ray and the virtual scene corresponding to the virtual image", the heterogeneous imaging surface 3D model is located in the virtual scene, and the first intersection point between the scene image (excluding the heterogeneous imaging surface 3D model) and the ray is taken as the intersection point.

5. The virtual image imaging method applicable to heterogeneous imaging surfaces according to claim 1, characterized in that, In the step of "outputting the texture information to the display device to project the virtual image onto the heterogeneous imaging surface", the splicing method of the heterogeneous imaging surface is obtained, the three-dimensional model of the heterogeneous imaging surface is cut equally according to the splicing method, the projection of the boundary of the cut three-dimensional model of the heterogeneous imaging surface on the UV map is obtained as a mask, and the texture information covered by the mask is output to the display device for projection.

6. The virtual image imaging method for heterogeneous imaging surfaces according to claim 1, characterized in that, Anomalous imaging surfaces refer to irregular, closed imaging surfaces that can be modeled in three dimensions.

7. A virtual image imaging device suitable for heterogeneous imaging surfaces, characterized in that, include: The 3D model building unit is used to construct a 3D model of the heterogeneous imaging surface in virtual space. A partitioning unit is used to divide the heterogeneous imaging surface 3D model into multiple meshes; The observation point acquisition unit is used to acquire the observation coordinates of the observation point in the world coordinate system for each frame of virtual image. The assignment unit is used to obtain the edge points of the mesh with the coordinate point as the reference point, connect all the edge points to obtain a closed curve, if there is only one closed curve, the entire mesh is retained; if there are at least two closed curves, starting from the innermost closed curve, the occlusion surface of each closed curve is removed sequentially outward to retain the unoccluded mesh, a ray is drawn from each mesh vertex on the unoccluded mesh, and the first intersection point of the ray with the virtual scene corresponding to the virtual image is taken, the color of the intersection point is obtained and assigned to the mesh vertex corresponding to the ray; The texture generation unit is used to perform UV unwrapping on the three-dimensional model of the heterogeneous imaging surface to obtain a UV map, and to map the colors of the mesh vertices onto the UV map to obtain texture information; The projection unit is used to output the texture information to the display device to project the virtual image onto the heterogeneous imaging surface.

8. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the virtual image imaging method for heterogeneous imaging surfaces as described in any one of claims 1 to 6.

9. A readable storage medium, characterized in that, The readable storage medium stores a computer program, the computer program including program code for controlling a process to execute the process, the process including a virtual image imaging method for heterogeneous imaging surfaces according to any one of claims 1 to 6.

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