A method, device, equipment and medium for zooming roaming of a screen point cloud

Abstract

The embodiment of the specification discloses a screen point cloud zoom roaming method and device, equipment and medium, comprising: when a point cloud model adjustment instruction is input by clicking a specified position on a screen, if the point cloud is not hit, the coordinates of the specified position on the screen are converted into specified three-dimensional coordinates in a world coordinate system; a ray vector is determined according to the specified three-dimensional coordinates and the current three-dimensional coordinates of a point cloud camera in the world coordinate system; and the point cloud camera is moved along the direction of the ray vector according to the point cloud model adjustment instruction, so as to complete the zoom roaming of the specified position on the screen.

Description

Technical Field

[0001] This specification relates to the field of computer technology, and in particular to a method, apparatus, device, and medium for scaling and roaming screen point clouds. Background Technology

[0002] Compared to conventional 3D models, each point cloud in a point cloud model is independent, and these independent point clouds make up the entire model. Normally, when manipulating a point cloud model, pressing a finger or mouse will hit a point in the model, and the camera can be moved around this target point to achieve the effects of panning and zooming. However, in actual point cloud models, there may be hollow parts, such as the interior of some building models. For hollow parts, the existing methods cannot achieve the effects of panning and zooming. Therefore, a method is needed to zoom and pan for the hollow parts in the point cloud model. Summary of the Invention

[0003] This specification provides one or more embodiments of a method, apparatus, device, and medium for scaling and roaming screen point clouds, which are used to solve the technical problems mentioned in the background art.

[0004] One or more embodiments of this specification employ the following technical solutions:

[0005] This specification provides a method for scaling and roaming a screen point cloud according to one or more embodiments, including:

[0006] When clicking on a specified location on the screen to perform a point cloud model adjustment command, if the point cloud is not hit, the coordinates of the specified location on the screen will be converted into specified three-dimensional coordinates in the world coordinate system.

[0007] The ray vector is determined based on the specified 3D coordinates and the current 3D coordinates of the point cloud camera in the world coordinate system;

[0008] According to the point cloud model adjustment instructions, the point cloud camera is moved along the direction of the ray vector to complete the zoom and roaming of the specified position on the screen.

[0009] This specification provides a screen point cloud scaling and roaming device according to one or more embodiments, the device comprising:

[0010] The coordinate transformation unit converts the coordinates of the specified position on the screen into specified three-dimensional coordinates in the world coordinate system if the point cloud model adjustment command is not hit when the specified position on the screen is clicked.

[0011] The ray vector determination unit determines the ray vector based on the specified three-dimensional coordinates and the current three-dimensional coordinates of the point cloud camera in the world coordinate system;

[0012] The scaling and roaming unit moves the point cloud camera along the direction of the ray vector according to the point cloud model adjustment command, so as to complete the scaling and roaming of the specified position on the screen.

[0013] This specification provides one or more embodiments of a screen point cloud scaling and roaming device, comprising:

[0014] At least one processor; and,

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores instructions that can be executed by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to:

[0017] When clicking on a specified location on the screen to perform a point cloud model adjustment command, if the point cloud is not hit, the coordinates of the specified location on the screen will be converted into specified three-dimensional coordinates in the world coordinate system.

[0018] The ray vector is determined based on the specified 3D coordinates and the current 3D coordinates of the point cloud camera in the world coordinate system;

[0019] According to the point cloud model adjustment instructions, the point cloud camera is moved along the direction of the ray vector to complete the zoom and roaming of the specified position on the screen.

[0020] This specification provides one or more embodiments of a non-volatile computer storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured as follows:

[0021] When clicking on a specified location on the screen to perform a point cloud model adjustment command, if the point cloud is not hit, the coordinates of the specified location on the screen will be converted into specified three-dimensional coordinates in the world coordinate system.

[0022] The ray vector is determined based on the specified 3D coordinates and the current 3D coordinates of the point cloud camera in the world coordinate system;

[0023] According to the point cloud model adjustment instructions, the point cloud camera is moved along the direction of the ray vector to complete the zoom and roaming of the specified position on the screen.

[0024] The above-mentioned at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects: When the point cloud model adjustment command is given by clicking on a specified position on the screen, if the point cloud is not hit, the screen coordinates are converted into 3D space points to operate the camera movement to perform approximate scaling, so as to achieve the purpose of roaming and scaling in the point cloud model. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0026] Figure 1 A flowchart illustrating a method for scaling and roaming a screen point cloud, provided for one or more embodiments of this specification;

[0027] Figure 2 A flowchart illustrating the point cloud scaling and roaming method provided in one or more embodiments of this specification;

[0028] Figure 3 A zoomed-and-roam diagram illustrating point cloud hits provided in one or more embodiments of this specification;

[0029] Figure 4 A zoomed-down roaming diagram illustrating a point cloud miss provided in one or more embodiments of this specification;

[0030] Figure 5 A schematic diagram of the structure of a screen point cloud scaling and roaming device provided for one or more embodiments of this specification;

[0031] Figure 6 This is a schematic diagram of the structure of a screen point cloud scaling and roaming device provided for one or more embodiments of this specification. Detailed Implementation

[0032] This specification provides a method, apparatus, device, and medium for scaling and roaming screen point clouds.

[0033] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0034] Figure 1 This diagram illustrates a process for scaling and roaming a screen point cloud according to one or more embodiments of this specification. This process can be executed by a screen point cloud scaling and roaming system. Certain input parameters or intermediate results in the process can be manually adjusted to help improve accuracy.

[0035] The method flow steps of the embodiments in this specification are as follows:

[0036] S102, when a point cloud model adjustment command is given by clicking a specified position on the screen, if the point cloud is not hit, the coordinates of the specified position on the screen are converted into specified three-dimensional coordinates in the world coordinate system.

[0037] In the embodiments of this specification, the point cloud model adjustment command can be to roam to a specified position on the screen and zoom in or out by a specified factor at the specified position on the screen. For example, in a scenario where a point cloud map is displayed on the screen, the user clicks on a specified position on the screen to view it in detail. The display effect is that the center position of the screen moves to the specified position on the screen and zooms in with the specified position on the screen as the center.

[0038] In the embodiments of this specification, the missing point cloud refers to the hollow part of the hit point cloud model. For example, inside some building models, the hollow part of the point cloud model cannot be directly roamed and scaled according to the point cloud model adjustment instructions. Therefore, the specified position coordinates of the screen can be converted into specified three-dimensional coordinates in the world coordinate system using existing algorithms. In subsequent processes, the scaling and roaming method of the missing point cloud can be determined using these specified three-dimensional coordinates.

[0039] S104, determine the ray vector based on the specified three-dimensional coordinates and the current three-dimensional coordinates of the point cloud camera in the world coordinate system.

[0040] In the embodiments of this specification, the specified three-dimensional coordinates are the position coordinates of the missed point cloud in the world coordinate system, and the current three-dimensional coordinates are the position coordinates of the point cloud camera in the world coordinate system. Based on the two position coordinates located in the same coordinate system, the direction for subsequent movement of the point cloud camera is determined to realize the scaling and roaming of the missed point cloud.

[0041] S106, according to the point cloud model adjustment instruction, move the point cloud camera along the direction of the ray vector to complete the zoom and roaming of the specified position on the screen.

[0042] In the embodiments of this specification, when the point cloud camera is moved along the ray vector direction according to the point cloud model adjustment instruction, the moving distance of the point cloud camera can be determined according to the point cloud model adjustment instruction. The moving distance of the point cloud camera along the ray vector direction is related to the zoom and roaming value of the specified position on the screen. In the point cloud map scene, the zoom-in and zoom-out values ​​can be preset. That is, when the user clicks the screen to zoom in and out, the corresponding factor can be directly zoomed in and out, or the corresponding factor can be zoomed in and out through different gestures when the user clicks the screen. Finally, the point cloud camera can be moved along the ray vector direction according to the moving distance. After the point cloud camera moves, zoom and roaming can be performed at the specified position on the screen.

[0043] Furthermore, in the embodiments of this specification, when determining the movement distance of the point cloud camera based on the point cloud model adjustment command and the unit movement distance, the movement distance of the point cloud camera along the direction of the ray vector can be determined based on the ray vector and a pre-set scaling factor; the movement distance of the point cloud camera can be determined based on the point cloud model adjustment command and the unit movement distance. For example, in a point cloud map scenario, when the user clicks the screen to zoom in or out, the movement distance of the point cloud camera along the direction of the ray vector is determined based on the point cloud model adjustment command. That is, the movement distance of the point cloud camera can be determined when the point cloud model adjustment command involves multiple screen clicks.

[0044] Furthermore, in the embodiments of this specification, when determining the unit distance the point cloud camera moves along the direction of the ray vector based on the ray vector and a preset scaling factor, the ray vector can be normalized to obtain a unit direction vector; the unit direction vector and the preset scaling factor are then used to determine the unit distance the point cloud camera moves along the direction of the ray vector.

[0045] Furthermore, in the embodiments of this specification, after moving the point cloud camera along the ray vector direction, the moving three-dimensional coordinates of the point cloud camera in the world coordinate system can be determined first based on the current three-dimensional coordinates and the moving distance; then, the current looking position of the point cloud camera in the current three-dimensional coordinates can be determined; then, the moving looking position of the point cloud camera can be determined based on the current looking position and the moving distance; finally, the zoom and roaming of the specified position on the screen can be completed based on the moving three-dimensional coordinates and the moving looking position. After moving the point cloud camera along the ray vector direction, the final position and the final looking position of the point cloud camera are obtained. Both the final position and the final looking position of the point cloud camera move along the ray vector direction, thereby achieving the effects of roaming and zooming.

[0046] In the embodiments of this specification, if a point cloud is hit, the point cloud model adjustment command is determined to be the roaming of the point cloud model, and the coordinates of the hit point cloud are used as the transformed viewing position. That is, in the point cloud model on the screen, the clicked position (specified position) can be moved to the center position of the screen or a specified position of the screen for the user to view. Then, the difference between the transformed viewing position and the original viewing position is used as the roaming direction and roaming distance of the point cloud model. Finally, the point cloud camera is moved according to the roaming direction and roaming distance of the point cloud model to complete the roaming of the point cloud model.

[0047] In the embodiments of this specification, if a point cloud is hit, the point cloud model adjustment command is determined to be the scaling of the point cloud model, and the coordinates of the hit point cloud are used as the transformed viewing position; then, the difference between the transformed viewing position and the original viewing position is used as the roaming direction and roaming distance of the point cloud model; then, according to the roaming direction and roaming distance of the point cloud model, the point cloud camera is moved to the camera position corresponding to the transformed viewing position; finally, the scaling factor of the point cloud model is determined, and the distance between the camera position and the transformed viewing position is adjusted according to the shown scaling factor to complete the scaling of the point cloud model.

[0048] It should be noted that the point cloud selection in the embodiments of this specification can be a single point on the screen or a bounding box selection of the point cloud model. The gesture operation can be the entire model rotating around a fixed center, zooming in, or dragging, or the result of collision picking can be used as the gesture target point to operate the model.

[0049] It should be noted that the embodiments in this specification propose solutions for point cloud model scaling and roaming in the above two situations. Combining the two methods forms a complete point cloud scaling and roaming solution.

[0050] It should be noted that the center point of mouse or finger touch in this embodiment of the specification may be referred to as the target point, which is the designated location mentioned above.

[0051] In the embodiments of this specification, when the target point hits the point cloud, the real coordinates of the point cloud are used as the camera's viewing position. The real coordinates of the point cloud can be the coordinates of the hit point cloud. Zooming and roaming are based on these real point cloud coordinates. When the target point does not hit any point cloud, the screen coordinates are converted to 3D space points to operate the camera's movement for approximate zooming, so as to achieve the purpose of roaming and zooming in the point cloud model.

[0052] It should be noted that the overall solution flow of the embodiments in this specification can be found in [reference needed]. Figure 2 The flowchart illustrating the point cloud scaling and roaming method is as follows:

[0053] When a target point hits the point cloud, the hit point cloud is denoted as Pr, and the coordinates r of point cloud Pr are used as the camera's new looking position lookat_2. The difference between lookat_2 and the original looking position lookat_1 is the direction of the roaming translation. As for zooming in and out, it needs to be achieved by adjusting the distance between the camera and the looking position. The implementation process can be found in [reference needed]. Figure 3 The diagram shown illustrates the zoom-and-roam effect of point cloud hits:

[0054] Assume the initial values ​​of the camera's initial position and its initial look-at position are as shown in the figure, denoted by camPos_1 and lookat_1 respectively. When a target point hits a point cloud, the hit point is used as the camera's new look-at position, denoted by lookat_2, that is:

[0055] lookat_2=Pr

[0056] The difference vector N1 between lookat_2 and lookat_1 represents the translation direction and distance during roaming. To maintain the actual orientation of the overall point cloud model during roaming, the camera also needs to be translated by N1. When the camera is translated to the position camPos_2, it's equivalent to only translating without scaling. Whether scaling is needed can be calculated based on the distance between the camera and the viewing position. If the calculated distance is greater than a threshold, scaling can be applied; otherwise, only the roaming effect is performed. The process of determining whether scaling is needed can be determined based on the input point cloud model adjustment command. If the command indicates that scaling is needed, it is adjusted by changing the distance between the camera and the viewing position. If it is calculated that magnification is needed, the Z-direction distance between camera camPos_2 and lookat_2 needs to be reduced. The specific reduction amount can be calculated by using a fixed step size or by multiplying the distance between camPos_2 and lookat_2 by a fixed ratio. The final camera position is camPos_3, and the position it is looking at is lookat_2. To reduce the zoom-out effect, the Z-distance between camPos_2 and lookat_2 needs to be increased in the opposite direction. The zoom-out effect can also be determined by adding a threshold judgment to the process as needed.

[0057] If no point cloud is hit, the embodiments in this specification can adopt another approach, the implementation process of which can be found in [reference needed]. Figure 4 The diagram shown illustrates a zoomed-out walkthrough where a point cloud miss occurs. Specifically, the screen coordinates (x, y) are first converted to coordinates in the world coordinate system of 3D space. This converted point is denoted as Pf. Pf serves as the point transformed from screen coordinates to 3D space. Since a precise depth value Z is unavailable... Figure 4 If Z is set to 0, then the mapped Pf might be far from all the real points in the model. However, Pf lies on the ray emanating from the screen point towards the camera. The formula for calculating the ray vector is (Pf - camPos). After normalization, the direction vector is denoted as N. Then, N is multiplied by the scaling factor to calculate the displacement vector of the camera towards the screen: vector = N * factor. camPos is the coordinate value of the camera in the world coordinate system.

[0058] It should be noted that the scaling factor can be a fixed value, or it can be optimized by combining the current position of the camera and the normalized direction vector N.

[0059] One optimization scheme assumes that the screen coordinates are mapped to the plane where Z=0. Then the scaling factor is calculated as follows:

[0060] factor = (0 - camPos.z / Nz) * scale, where camPos.z is the z-value in the camera coordinates and Nz is the z-value in the direction vector.

[0061] The scale value is between 0 and 1, excluding 0. To prevent the factor value from being too large, when the factor is greater than the threshold of the fixed step size, the threshold can be used as the scaling factor.

[0062] To keep the viewing direction unchanged, the camera's looking position also needs to be processed in the same way. Ultimately, both the camera and the looking position move along the screen direction, thereby achieving the effects of roaming and zooming.

[0063] The final camera position is calculated as follows: camPos_2 = camPos + N * factor;

[0064] The final calculation method for the looking position is: lookat_2 = lookat + N * factor. If a shrinking effect is required, the plus sign in the above formula can be changed to minus.

[0065] Figure 5 This is a schematic diagram of the structure of a screen point cloud scaling and roaming device provided for one or more embodiments of this specification. The device includes: a coordinate transformation unit 502, a ray vector determination unit 504, and a scaling and roaming unit 506.

[0066] The coordinate transformation unit 502, when clicking on a specified position on the screen to perform a point cloud model adjustment command, if the point cloud is not hit, transforms the coordinates of the specified position on the screen into specified three-dimensional coordinates in the world coordinate system.

[0067] The ray vector determination unit 504 determines the ray vector based on the specified three-dimensional coordinates and the current three-dimensional coordinates of the point cloud camera in the world coordinate system;

[0068] The scaling and roaming unit 506 moves the point cloud camera along the direction of the ray vector according to the point cloud model adjustment instruction to complete the scaling and roaming of the specified position on the screen.

[0069] Figure 6 A schematic diagram of a screen point cloud scaling and roaming device provided for one or more embodiments of this specification includes:

[0070] At least one processor; and,

[0071] A memory communicatively connected to the at least one processor; wherein,

[0072] The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to:

[0073] When a point cloud model adjustment command is given by clicking a specified location on the screen, if the point cloud is not hit, the coordinates of the specified location on the screen will be converted into specified three-dimensional coordinates in the world coordinate system.

[0074] The ray vector is determined based on the specified 3D coordinates and the current 3D coordinates of the point cloud camera in the world coordinate system;

[0075] According to the point cloud model adjustment instructions, the point cloud camera is moved along the direction of the ray vector to complete the zoom and roaming of the specified position on the screen.

[0076] This specification provides one or more embodiments of a non-volatile computer storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured as follows:

[0077] When a point cloud model adjustment command is given by clicking a specified location on the screen, if the point cloud is not hit, the coordinates of the specified location on the screen will be converted into specified three-dimensional coordinates in the world coordinate system.

[0078] The ray vector is determined based on the specified 3D coordinates and the current 3D coordinates of the point cloud camera in the world coordinate system;

[0079] According to the point cloud model adjustment instructions, the point cloud camera is moved along the direction of the ray vector to complete the zoom and roaming of the specified position on the screen.

[0080] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, devices, and non-volatile computer storage media are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0081] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0082] The above description is merely one or more embodiments of this specification and is not intended to limit this specification. Various modifications and variations can be made to the one or more embodiments of this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of one or more embodiments of this specification should be included within the scope of the claims of this specification.

Claims

1. A method for scaling and roaming screen point clouds, characterized in that, The method includes: When a point cloud model adjustment command is given by clicking a specified location on the screen, if the point cloud is not hit, the coordinates of the specified location on the screen will be converted into specified three-dimensional coordinates in the world coordinate system. The ray vector is determined based on the specified 3D coordinates and the current 3D coordinates of the point cloud camera in the world coordinate system; According to the point cloud model adjustment instructions, the point cloud camera is moved along the direction of the ray vector to complete the zoom and roaming of the specified position on the screen; The step of moving the point cloud camera along the ray vector direction according to the point cloud model adjustment command specifically includes: The moving distance of the point cloud camera is determined according to the point cloud model adjustment instructions; The point cloud camera moves along the ray vector direction according to the moving distance; The step of determining the moving distance of the point cloud camera according to the point cloud model adjustment command specifically includes: Based on the ray vector and a pre-set scaling factor, determine the unit distance the point cloud camera moves along the direction of the ray vector; The movement distance of the point cloud camera is determined based on the point cloud model adjustment command and the distance of the moving unit. The step of determining the unit distance the point cloud camera moves along the direction of the ray vector based on the ray vector and a pre-set scaling factor specifically includes: The ray vector is normalized to obtain the unit direction vector; Based on the unit direction vector and a pre-set scaling factor, the point cloud camera is determined to move a unit distance along the direction of the ray vector. After moving the point cloud camera along the ray vector direction, the method further includes: Based on the current 3D coordinates and the moving distance, determine the moving 3D coordinates of the point cloud camera in the world coordinate system; Determine the current viewing position of the point cloud camera in the current three-dimensional coordinate system; The moving viewing position of the point cloud camera is determined based on the current viewing position and the moving distance. The zoom and roaming of the specified position on the screen is completed based on the moving three-dimensional coordinates and the moving looking position.

2. The method according to claim 1, characterized in that, If the point cloud is hit, the method further includes: The point cloud model adjustment command is determined to be the roaming of the point cloud model, and the coordinates of the hit point cloud are used as the transformation view position; The difference between the transformed viewing position and the original viewing position is used as the roaming direction and roaming distance of the point cloud model; The point cloud camera is moved according to the roaming direction and roaming distance of the point cloud model to complete the roaming of the point cloud model.

3. The method according to claim 1, characterized in that, If the point cloud is hit, the method further includes: The point cloud model adjustment command is determined to be the scaling of the point cloud model, and the coordinates of the hit point cloud are used as the transformation viewing position; The difference between the transformed viewing position and the original viewing position is used as the roaming direction and roaming distance of the point cloud model; Based on the roaming direction and roaming distance of the point cloud model, the point cloud camera is moved to the camera position corresponding to the transformed viewing position; Determine the scaling factor of the point cloud model, and adjust the distance between the camera position and the transformed viewing position according to the scaling factor to complete the scaling of the point cloud model.

4. A zoom and roaming device for screen point clouds, characterized in that, The device includes: The coordinate transformation unit converts the coordinates of the specified position on the screen into specified three-dimensional coordinates in the world coordinate system if the point cloud model adjustment command is not hit when the specified position on the screen is clicked. The ray vector determination unit determines the ray vector based on the specified three-dimensional coordinates and the current three-dimensional coordinates of the point cloud camera in the world coordinate system; The scaling and roaming unit moves the point cloud camera along the direction of the ray vector according to the point cloud model adjustment instruction to complete the scaling and roaming of the specified position on the screen; The step of moving the point cloud camera along the ray vector direction according to the point cloud model adjustment command specifically includes: The moving distance of the point cloud camera is determined according to the point cloud model adjustment instructions; The point cloud camera moves along the ray vector direction according to the moving distance; The step of determining the moving distance of the point cloud camera according to the point cloud model adjustment command specifically includes: Based on the ray vector and a pre-set scaling factor, determine the unit distance the point cloud camera moves along the direction of the ray vector; The movement distance of the point cloud camera is determined based on the point cloud model adjustment command and the distance of the moving unit. The step of determining the unit distance the point cloud camera moves along the direction of the ray vector based on the ray vector and a pre-set scaling factor specifically includes: The ray vector is normalized to obtain the unit direction vector; Based on the unit direction vector and a pre-set scaling factor, the point cloud camera is determined to move a unit distance along the direction of the ray vector. After moving the point cloud camera along the ray vector direction, the method further includes: Based on the current 3D coordinates and the moving distance, determine the moving 3D coordinates of the point cloud camera in the world coordinate system; Determine the current viewing position of the point cloud camera in the current three-dimensional coordinate system; The moving viewing position of the point cloud camera is determined based on the current viewing position and the moving distance. The zoom and roaming of the specified position on the screen is completed based on the moving three-dimensional coordinates and the moving looking position.

5. A scaling and roaming device for screen point clouds, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to: When a point cloud model adjustment command is given by clicking a specified location on the screen, if the point cloud is not hit, the coordinates of the specified location on the screen will be converted into specified three-dimensional coordinates in the world coordinate system. The ray vector is determined based on the specified 3D coordinates and the current 3D coordinates of the point cloud camera in the world coordinate system; According to the point cloud model adjustment instructions, the point cloud camera is moved along the direction of the ray vector to complete the zoom and roaming of the specified position on the screen; The step of moving the point cloud camera along the ray vector direction according to the point cloud model adjustment command specifically includes: The moving distance of the point cloud camera is determined according to the point cloud model adjustment instructions; The point cloud camera moves along the ray vector direction according to the moving distance; The step of determining the moving distance of the point cloud camera according to the point cloud model adjustment command specifically includes: Based on the ray vector and a pre-set scaling factor, determine the unit distance the point cloud camera moves along the direction of the ray vector; The movement distance of the point cloud camera is determined based on the point cloud model adjustment command and the distance of the moving unit. The step of determining the unit distance the point cloud camera moves along the direction of the ray vector based on the ray vector and a pre-set scaling factor specifically includes: The ray vector is normalized to obtain the unit direction vector; Based on the unit direction vector and a pre-set scaling factor, the point cloud camera is determined to move a unit distance along the direction of the ray vector. After moving the point cloud camera along the ray vector direction, the method further includes: Based on the current 3D coordinates and the moving distance, determine the moving 3D coordinates of the point cloud camera in the world coordinate system; Determine the current viewing position of the point cloud camera in the current three-dimensional coordinate system; The moving viewing position of the point cloud camera is determined based on the current viewing position and the moving distance. The zoom and roaming of the specified position on the screen is completed based on the moving three-dimensional coordinates and the moving looking position.

6. A non-volatile computer storage medium, characterized in that, The computer-executable instructions are stored thereon and are configured as follows: When a point cloud model adjustment command is given by clicking a specified location on the screen, if the point cloud is not hit, the coordinates of the specified location on the screen will be converted into specified three-dimensional coordinates in the world coordinate system. The ray vector is determined based on the specified 3D coordinates and the current 3D coordinates of the point cloud camera in the world coordinate system; According to the point cloud model adjustment instructions, the point cloud camera is moved along the direction of the ray vector to complete the zoom and roaming of the specified position on the screen; The step of moving the point cloud camera along the ray vector direction according to the point cloud model adjustment command specifically includes: The moving distance of the point cloud camera is determined according to the point cloud model adjustment instructions; The point cloud camera moves along the ray vector direction according to the moving distance; The step of determining the moving distance of the point cloud camera according to the point cloud model adjustment command specifically includes: Based on the ray vector and a pre-set scaling factor, determine the unit distance the point cloud camera moves along the direction of the ray vector; The movement distance of the point cloud camera is determined based on the point cloud model adjustment command and the distance of the moving unit. The step of determining the unit distance the point cloud camera moves along the direction of the ray vector based on the ray vector and a pre-set scaling factor specifically includes: The ray vector is normalized to obtain the unit direction vector; Based on the unit direction vector and a pre-set scaling factor, the point cloud camera is determined to move a unit distance along the direction of the ray vector. After moving the point cloud camera along the ray vector direction, the method further includes: Based on the current 3D coordinates and the moving distance, determine the moving 3D coordinates of the point cloud camera in the world coordinate system; Determine the current viewing position of the point cloud camera in the current three-dimensional coordinate system; The moving viewing position of the point cloud camera is determined based on the current viewing position and the moving distance. The zoom and roaming of the specified position on the screen is completed based on the moving three-dimensional coordinates and the moving looking position.

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