A concurrent visualization method, system, terminal and storage medium for three-dimensional scenes

Abstract

The present invention discloses a concurrent visualization method, system, terminal and storage medium of a three-dimensional scene, the method comprising: obtaining the three-dimensional scene in which the user is located, and performing voxel segmentation to obtain a target trajectory recording pane, and obtaining a three-dimensional space trajectory according to the target trajectory recording pane; performing statistics on the three-dimensional space trajectory to obtain statistical results, and obtaining a trajectory backtracking strategy according to the statistical results, and calculating the trajectory incremental information; creating an operation agent, and obtaining a hierarchical pre-scheduling pane according to the operation agent, and obtaining priority information; obtaining a target pane according to the three-dimensional space trajectory, and performing a comparison to obtain a comparison result, and respectively obtaining a first incremental result and a second incremental result, and visualizing the first incremental information and the second incremental information to obtain a visualization result. The present invention realizes a rapid visualization effect of incremental information integration through omnidirectional multi-level pre-scheduling, and improves the visualization efficiency of the three-dimensional scene.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional visualization technology, and in particular to a concurrent visualization method, system, terminal and storage medium for three-dimensional scenes. Background Art

[0002] With the development of science and technology and the drive of new urban development thinking, cities are constantly moving towards digitalization and intelligence. Digital twin city scenes have the characteristics of realistic visualization and large data volume. However, roaming and operating in these digital twin city scenes are repetitive, and for a system, there are usually a large number of users who share the same use. For such a complex visualization system with user-shared characteristics, users' repeated browsing will cause various underlying three-dimensional data (for example, GIS data, BIM data, etc.) to be repeatedly retrieved, called and rendered, resulting in a waste of computing and storage resources and low visualization efficiency.

[0003] In the existing technology, it is usually processed through 3D tile technology, spatial index technology or pre-computed visual set technology. 3D tile technology is to cut a large-scale 3D geographic data set into multiple regular tiles for more efficient transmission, storage and rendering; spatial index technology is to effectively reduce the search space when scheduling data by using a tree data structure; pre-computed visual set technology is to improve rendering efficiency by eliminating objects outside the cone and occluded objects. However, 3D tile technology generates multiple levels of data for the same object, resulting in the original data volume being magnified many times, resulting in a waste of resources; spatial index technology uses a tree structure to organize the original data, which only organizes the data from the data structure itself, and does not achieve high-speed rendering and scheduling at the visualization level; and pre-computed visual set technology only judges the pre-visible objects from the data itself, and does not consider the user's use of the data, which is not conducive to data calls under user habits.

[0004] Therefore, the processing of three-dimensional scenes in the prior art has the problems of waste of storage resources and low visualization efficiency.

[0005] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0006] The main purpose of the present invention is to provide a concurrent visualization method, system, terminal and storage medium for three-dimensional scenes, aiming to solve the problems of waste of storage resources and low visualization efficiency in the processing of three-dimensional scenes in the prior art.

[0007] To achieve the above object, the present invention provides a concurrent visualization method for a three-dimensional scene, the concurrent visualization method for a three-dimensional scene comprising the following steps:

[0008] Acquire a three-dimensional scene in which a user is located, perform voxel segmentation on the three-dimensional scene to obtain a target trajectory record pane, and obtain the three-dimensional space trajectory of the user according to the target trajectory record pane;

[0009] Performing statistical processing on the three-dimensional space trajectory to obtain statistical results, obtaining a trajectory backtracking strategy according to the statistical results, and calculating the three-dimensional space trajectory to obtain trajectory increment information;

[0010] Creating an operation agent for the user, obtaining a hierarchical pre-scheduling pane according to the operation agent, and obtaining priority information of the hierarchical pre-scheduling pane according to the statistical result and the trajectory backtracking strategy;

[0011] Obtaining a target pane of the operation agent according to the three-dimensional space trajectory, performing a comparison process on the target pane to obtain a comparison result, and performing an incremental calculation on the target pane according to the comparison result and the trajectory incremental information to obtain a first incremental result;

[0012] Incremental calculation is performed on the hierarchical pre-scheduling pane according to the priority information to obtain a second incremental result, and visualization is performed on the first incremental information and the second incremental information to obtain a visualization result.

[0013] Optionally, the concurrent visualization method of the three-dimensional scene, wherein the acquiring the three-dimensional scene where the user is located, performing voxel segmentation on the three-dimensional scene to obtain a target trajectory record pane, and obtaining the three-dimensional space trajectory of the user according to the target trajectory record pane, specifically comprises:

[0014] Acquire a three-dimensional scene in which the user is located, set the space size of the three-dimensional scene, extract the number of objects in the three-dimensional scene according to the space size, and calculate the object space density according to the space size and the number of objects;

[0015] Obtaining a track record pane according to the space size and the object space density, and numbering the track record panes to obtain a target track record pane;

[0016] Acquire the spatial position and position posture of the user, obtain a three-dimensional spatial position pane according to the spatial position and the target track record pane, and obtain a three-dimensional position posture pane according to the position posture and the target track record pane;

[0017] The three-dimensional space position pane and the three-dimensional position posture pane are serialized to obtain the three-dimensional space trajectory of the user.

[0018] Optionally, the concurrent visualization method of the three-dimensional scene, wherein the three-dimensional space trajectory is statistically processed to obtain a statistical result, and a trajectory backtracking strategy is obtained according to the statistical result, specifically comprising:

[0019] Performing statistical processing on the three-dimensional space trajectory to obtain statistical results, wherein the statistical results include the number of times the window pane is stayed, the length of time the window pane is stayed, and the observation posture of the window pane;

[0020] Data scheduling processing is performed according to the statistical results to obtain a trajectory backtracking strategy, wherein the trajectory backtracking strategy includes a reverse direction backtracking strategy and a jump backtracking strategy.

[0021] Optionally, the concurrent visualization method of the three-dimensional scene, wherein the step of calculating the three-dimensional space trajectory to obtain trajectory increment information specifically includes:

[0022] Acquire a first window pane and a second window pane of the three-dimensional space trajectory, wherein the first window pane and the second window pane are adjacent to each other;

[0023] Performing posture difference calculation on the first pane and the second pane to obtain posture increment information, and performing visible object difference calculation on the first pane and the second pane to obtain visible set increment information;

[0024] The visible set incremental information is marked according to the posture incremental information to obtain trajectory incremental information.

[0025] Optionally, the concurrent visualization method of the three-dimensional scene, wherein the creating the operation agent of the user, obtaining the hierarchical pre-scheduling pane according to the operation agent, and obtaining the priority information of the hierarchical pre-scheduling pane according to the statistical result and the trajectory backtracking strategy, specifically includes:

[0026] Creating an operation agent of the user according to the three-dimensional scene, and setting a spatial pane of the operation agent;

[0027] Performing a pane query according to the common vertex relationship of the spatial panes to obtain a first-level pre-scheduling pane, performing a pane query according to the common vertex relationship of the first-level pre-scheduling panes to obtain a second-level pre-scheduling pane, and performing a pane query according to the common vertex relationship of the second-level pre-scheduling panes to obtain a third-level pre-scheduling pane;

[0028] A hierarchical pre-scheduling pane is constructed according to the first-level pre-scheduling pane, the second-level pre-scheduling pane, and the third-level pre-scheduling pane, and priority information of the hierarchical pre-scheduling pane is obtained according to the statistical result and the trace back strategy.

[0029] Optionally, the concurrent visualization method of the three-dimensional scene, wherein obtaining the target pane of the operation agent according to the three-dimensional space trajectory, performing comparison processing on the target pane to obtain a comparison result, and performing incremental calculation on the target pane according to the comparison result and the trajectory incremental information to obtain a first incremental result, specifically includes:

[0030] Tracking the pane where the operation agent is located according to the three-dimensional space trajectory to obtain a target pane, and extracting remaining panes of the three-dimensional space trajectory;

[0031] Comparing the information content of the target pane with the information content of the remaining panes according to the time sequence to obtain a comparison result, wherein the information content includes the number of visible objects and the position and posture of the operation agent;

[0032] A first object to be rendered of the target pane is extracted, and an incremental calculation is performed on the first object to be rendered according to the comparison result and the trajectory incremental information to obtain a first incremental result.

[0033] Optionally, the concurrent visualization method of the three-dimensional scene, wherein the step of performing incremental calculation on the hierarchical pre-scheduling pane according to the priority information to obtain a second incremental result, and performing visualization processing on the first incremental information and the second incremental information to obtain a visualization result, specifically includes:

[0034] Extracting a second object to be rendered of the hierarchical pre-scheduling pane, and performing incremental calculation on the second object to be rendered according to the priority information to obtain a second incremental result;

[0035] Visualization processing is performed on the first incremental information and the second incremental information to obtain a visualization result.

[0036] Optionally, in the method for concurrent visualization of three-dimensional scenes, the concurrent visualization system of three-dimensional scenes comprises:

[0037] A spatial trajectory acquisition module, used to acquire a three-dimensional scene in which a user is located, perform voxel segmentation on the three-dimensional scene, obtain a target trajectory record pane, and obtain the three-dimensional spatial trajectory of the user according to the target trajectory record pane;

[0038] A backtracking increment calculation module is used to perform statistical processing on the three-dimensional space trajectory to obtain statistical results, obtain a trajectory backtracking strategy according to the statistical results, and calculate the three-dimensional space trajectory to obtain trajectory increment information;

[0039] A multi-level pre-scheduling module, used to create an operation agent of the user, obtain a level pre-scheduling pane according to the operation agent, and obtain priority information of the level pre-scheduling pane according to the statistical result and the trajectory backtracking strategy;

[0040] A difference increment processing module, used for obtaining a target pane of the operation agent according to the three-dimensional space trajectory, performing a comparison process on the target pane to obtain a comparison result, and performing an increment calculation on the target pane according to the comparison result and the trajectory increment information to obtain a first increment result;

[0041] A visualization rendering module is used to perform incremental calculation on the hierarchical pre-scheduling pane according to the priority information to obtain a second incremental result, and to perform visualization processing on the first incremental information and the second incremental information to obtain a visualization result.

[0042] In addition, to achieve the above-mentioned purpose, the present invention also provides a terminal, wherein the terminal includes: a memory, a processor, and a program stored in the memory and executable on the processor, and when the program is executed by the processor, the steps of the concurrent visualization method of the three-dimensional scene as described above are implemented.

[0043] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a concurrent visualization program for a three-dimensional scene, and when the concurrent visualization program for the three-dimensional scene is executed by a processor, the steps of the concurrent visualization method for the three-dimensional scene as described above are implemented.

[0044] In the present invention, a three-dimensional scene in which a user is located is acquired, the three-dimensional scene is voxel-segmented to obtain a target trajectory recording pane, and the three-dimensional space trajectory of the user is obtained according to the target trajectory recording pane; the three-dimensional space trajectory is statistically processed to obtain a statistical result, a trajectory backtracking strategy is obtained according to the statistical result, and the three-dimensional space trajectory is calculated to obtain trajectory increment information; an operation agent of the user is created, a hierarchical pre-scheduling pane is obtained according to the operation agent, and priority information of the hierarchical pre-scheduling pane is obtained according to the statistical result and the trajectory backtracking strategy; a target pane of the operation agent is obtained according to the three-dimensional space trajectory, a comparison process is performed on the target pane to obtain a comparison result, and an incremental calculation is performed on the target pane according to the comparison result and the trajectory increment information to obtain a first incremental result; an incremental calculation is performed on the hierarchical pre-scheduling pane according to the priority information to obtain a second incremental result, and the first incremental information and the second incremental information are visualized to obtain a visualization result. The present invention records the three-dimensional spatial trajectory of the three-dimensional scene, creates a corresponding historical interest backtracking strategy and a pre-increment calculation strategy, and realizes a rapid visualization effect of incremental information integration through omni-directional multi-level pre-scheduling; by utilizing statistics of users' historical browsing habits and conducting statistical analysis, a pre-judgment data loading and scheduling mechanism is realized, thereby improving the data scheduling rate, so as to improve the visualization efficiency and effect of users in parallel browsing situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a flow chart of a preferred embodiment of the concurrent visualization method of a three-dimensional scene in the present invention;

[0046] Figure 2 It is a schematic diagram of position and posture recording of a preferred embodiment of the present invention;

[0047] Figure 3 It is a schematic diagram of the omnidirectional hierarchical pre-scheduling pane creation process of a preferred embodiment of the present invention;

[0048] Figure 4 It is a schematic diagram of the overall process of the concurrent visualization method of three-dimensional scenes in the present invention;

[0049] Figure 5 It is a schematic diagram of the principle of a preferred embodiment of the concurrent visualization system of three-dimensional scenes in the present invention;

[0050] Figure 6 It is a schematic diagram of the operating environment of a preferred embodiment of the terminal of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0052] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0053] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0054] The concurrent visualization method of a three-dimensional scene according to a preferred embodiment of the present invention is as follows: Figure 1 As shown, the concurrent visualization method of the three-dimensional scene includes the following steps:

[0055] Step S10: Acquire the three-dimensional scene where the user is located, perform voxel segmentation on the three-dimensional scene to obtain a target trajectory record pane, and obtain the three-dimensional space trajectory of the user according to the target trajectory record pane.

[0056] The step S10 comprises:

[0057] Step S11, obtaining the three-dimensional scene in which the user is located, setting the space size of the three-dimensional scene, extracting the number of objects in the three-dimensional scene according to the space size, and calculating the object space density according to the space size and the number of objects;

[0058] Step S12: obtaining a track record pane according to the space size and the object space density, and numbering the track record panes to obtain a target track record pane;

[0059] Step S13, obtaining the spatial position and position posture of the user, obtaining a three-dimensional spatial position pane according to the spatial position and the target trajectory record pane, and obtaining a three-dimensional position posture pane according to the position posture and the target trajectory record pane;

[0060] Step S14: Serialize the three-dimensional space position pane and the three-dimensional position posture pane to obtain the three-dimensional space trajectory of the user.

[0061] Specifically, in an embodiment of the present invention, for a three-dimensional scene, it is necessary to establish an adaptive trajectory recording pane. Preferably, the three-dimensional scene includes but is not limited to a three-dimensional geographic information scene based on GIS (Geographic Information System) technology support, a building twin scene based on BIM (Building Information Modeling) technology support, and an urban digital twin scene integrating GIS+BIM, etc. The adaptive trajectory recording pane refers to a trajectory recording pane obtained by implementing corresponding strategies according to different types of scenes, and the adaptation is mainly reflected in the different sizes of the trajectory recording pane. The trajectory recording pane refers to voxels that are grid-divided according to the type and spatial position of the scene, and the voxels are used as the trajectory recording pane; obtain the three-dimensional scene in which the user is located, such as the urban digital twin scene integrating GIS+BIM, establish a corresponding trajectory recording pane according to the spatial size and object spatial density of the three-dimensional scene, and number the trajectory recording pane uniquely, and the number is Grid i , i is a natural number, and the target track record pane is obtained. Then all track record panes in the three-dimensional scene are recorded as {Grid i}; The space size refers to the range that the user can browse set by the system, which is usually a rectangular space with a fixed length (denoted as c), width (denoted as k) and height (denoted as g), and the volume of the rectangular space is denoted as V; The object space density is calculated by calculating the minimum outer bounding box of each object in the three-dimensional scene, and the volume of the minimum outer bounding box is denoted as v i , then use the formula: ρ = ∑v i / V, calculate the object space density, ρ is the object space density; the voxels can be of different sizes. In the present invention, the voxels are expressed by cubes of the same size, and the side length of the cube is represented by l, l=min{c, k, g}*ρ*scale, scale is an artificially set scaling ratio value, which is used to more finely control the size of the voxels.

[0062] The target trajectory recording pane is used to record the browsing trajectory of the user to obtain the spatial position of the user, and a three-dimensional spatial position pane is obtained according to the spatial position and the target trajectory recording pane; the spatial position refers to the browsing position of the user, wherein the browsing trajectory is a continuous three-dimensional line, and the three-dimensional line is sampled by using a time interval t to obtain a series of three-dimensional points close to the three-dimensional line, and a spatial position judgment is performed on each three-dimensional point. The calculation method of the spatial position judgment is: the current position of the three-dimensional point is recorded as C (x, y, z), and the coordinates of the center point of the target trajectory recording pane are recorded as W i (x i ,y i , z i );Traverse all target track record panes and calculate the current position C and the center point W of the target track record pane i The distance is Take the minimum value of the distance Distance; use the target track record pane to record the user's position and posture, the position and posture is essentially a range domain Surf on the field of view, and the range domain Surf is used to represent the area observed by the user at the current position. The calculation method of the range domain Surf is: record the number of track points in the target track record pane. j , j is the number of trajectory points, the outer sphere of the target trajectory recording pane is denoted as Cir, a trajectory point O j The visual field is the projection surface S on the outer sphere Cir. j , then the range domain is: Surf = ∑S j ;like Figure 2 As shown in the figure, three track points are recorded in a target track record pane, namely, 1 , O 2 and O 3 , then the projection surfaces corresponding to the three trajectory points are S 1 , S 2 and S 3 , then the range domain (i.e. position and posture) of the target trajectory record pane is S 1 , S 2 and S 3 The sum of the position and posture and the target trajectory record pane is used to obtain a three-dimensional position and posture pane.

[0063] The three-dimensional space position pane and the three-dimensional position posture pane are serialized to obtain the three-dimensional space trajectory of the user, wherein the content of the serialization processing at least includes: first, recording the visible set corresponding to the target trajectory recording pane, specifically by using the trajectory point O j and projection surface S jThe visible object set VisbleSets of the target trajectory record pane collected in the visualization system i , where VisbleSets i = {Obj t}, Obj = (id, count), Obj is a visible object, t is the number of visible objects, id is the unique identifier of the visible object in the three-dimensional scene, and count is used to mark the historical visible times of Obj; second, establish a sequential sequence for the three-dimensional space panes that the user passes through when browsing in the three-dimensional scene, and establish a sequential sequence for the target trajectory record pane, denoted as T, T = {(timespan, Grid i )}, through the sequence sequence to record all the target track record panes that the user passes through during this browsing process, timespan is the user in the Grid i Length of stay.

[0064] Step S20: statistically process the three-dimensional space trajectory to obtain statistical results, obtain a trajectory backtracking strategy according to the statistical results, and calculate the three-dimensional space trajectory to obtain trajectory increment information.

[0065] Specifically, the three-dimensional space trajectory is statistically processed, that is, the browsing habits of the user in the three-dimensional scene are statistically processed, including the number of times the user stays on the pane in the three-dimensional scene. freq , duration G span and observation posture G view , and combined with each target track record pane Grid i In the grid i =(G freq , G span , G view ); Determine the visible objects to be observed, and form a set of visible objects in global priority order, denoted as Load = {Obj 0 ,Obj 1 ,Obj 2 ,......,Obj n}, n is the number of visible objects. In the embodiment of the present invention, the process of establishing a set of visible objects in global priority order is as follows: Obtain the three-dimensional space trajectory T k Each track record pane in the Grid T In the target track record pane Grid i Find the target track record pane with the same number i and update the record. The updated content is: update times G freq , if the track record pane Grid T If the pane number T is equal to i and is not empty, the number of updates is G freq+1; Update duration G span The updated duration is the current value plus the track record pane Grid T Medium G span Update the observation posture G view The updated observation posture is the current value and the track record pane Grid T Medium G view The intersection of; in three-dimensional space trajectory T k After the traversal statistics are completed, the global priority order visible object set Load is initialized so that all Obj in the global priority order visible object set Load = (id, 0); traverse the target track record pane Grid i , read each target track record pane Grid i Corresponding VisibleSets i , iterate over VisbleSets i {Obj t}, when t=id, make the count of Obj count=count+1, t is a natural number; sort the Obj in the visible object set Load in the global priority order from large to small according to the count value.

[0066] Data scheduling processing is performed according to the statistical results to obtain a trajectory backtracking strategy, wherein the trajectory backtracking strategy includes a reverse direction backtracking strategy and a jump backtracking strategy. The reverse direction backtracking strategy refers to retaining the trajectory record pane and the visible data objects corresponding to the trajectory record pane in the opposite direction of the browsing trajectory order, and removing the trajectory record pane far away from the current trajectory position. The jump backtracking strategy refers to bookmarking the trajectory record pane when the user browses, retaining the trajectory record pane and the visible data objects in the trajectory record pane, so that the user can jump to the trajectory record pane at any time. Through the trajectory backtracking strategy, when the user browses the browsed scene again, the data of the current scene can be directly or more quickly called for visual rendering, and no longer needs to be retrieved from all the data in the entire three-dimensional scene.

[0067] Obtain two adjacent panes of the three-dimensional space trajectory, namely, the first pane and the second pane, calculate the posture difference between the first pane and the second pane, and obtain the posture increment information. The posture difference calculation process is as follows: the position posture of the first pane is recorded as Surf 1 , the position and posture of the adjacent second pane is Surf 2 , get the common value Com of the position and posture of the first pane and the position and posture of the second pane s ,Com s =Surf 1 ∩Surf2 , then the attitude increment information Diff is obtained s , Diff s =Com s -Surf 1 or Diff s =Surf 2 -Com s ; and calculate the visible object difference between the first pane and the second pane to obtain the visible set increment information, the visible object difference calculation process is: let the visible object set of the first pane be VisibleSets 1 , let the visible object set of the second pane be VisibleSets 2 , get the common value Com of the visible object set of the first pane and the visible object set of the second pane v ,Com v =VisibleSets 1 ∩VisibleSets 2 , then the visible set incremental information Diff is obtained v , Diff v =Com v -VisibleSets 1 or Diff v =VisibleSets 2 -Com v ; Then, the visible set increment information is marked according to the gesture increment information to obtain the trajectory increment information, and the marking process is as follows: the visible object set of the first pane is VisibleSets 1 and the visible object set of the second pane is VisibleSets 2 All visible objects Obj, mark a Diff s value.

[0068] Step S30: Create an operation agent for the user, obtain a hierarchical pre-scheduling pane according to the operation agent, and obtain priority information of the hierarchical pre-scheduling pane according to the statistical result and the trace back strategy.

[0069] The step S30 comprises:

[0070] Step S31, creating an operation agent of the user according to the three-dimensional scene, and setting a space pane of the operation agent;

[0071] Step S32: performing a pane query according to the common vertex relationship of the spatial panes to obtain a first-level pre-scheduling pane, performing a pane query according to the common vertex relationship of the first-level pre-scheduling panes to obtain a second-level pre-scheduling pane, and performing a pane query according to the common vertex relationship of the second-level pre-scheduling panes to obtain a third-level pre-scheduling pane;

[0072] Step S33: construct a hierarchical pre-scheduling pane according to the first-level pre-scheduling pane, the second-level pre-scheduling pane and the third-level pre-scheduling pane, and obtain priority information of the hierarchical pre-scheduling pane according to the statistical result and the trace back strategy.

[0073] Specifically, an operation agent of the user is created according to the three-dimensional scene, and the operation agent supports the position movement, orientation change and viewing distance change of the visualization lens, wherein the operation agent of the user is usually created using an avatar in a visualization system or engine, such as a Pawn in an Unreal or Unity engine; a controller in a visualization system or engine is usually used to implement operations such as position movement and orientation change of the visualization lens, such as a PlayerController in an Unreal or Unity engine; and the purpose of creating the operation agent is, first, to limit the user's behavior so that the user has limited operations, such as moving up, down, left, right, and jumping along a three-dimensional trajectory; then, to record the user's operation behavior; and then to set the spatial pane of the operation agent, because the operation agent must be in a spatial pane after entering the three-dimensional scene, and this spatial pane can be set manually or randomly selected; and the spatial pane is extended to establish an omnidirectional hierarchical pre-scheduling pane, and the process of establishing the omnidirectional hierarchical pre-scheduling pane is described in detail. Figure 3 , specifically: select the current pane of the operation agent, that is, the space pane Grid c , traverse the space pane Grid c Vertices, query with the spatial pane Grid c Other spatial panes having a common vertex relationship are obtained to obtain a first-level pane, that is, a first-level pre-scheduling pane; the vertices of the first-level pre-scheduling pane are traversed, and other spatial panes having a common vertex relationship with the first-level pre-scheduling pane are queried to obtain a second-level pane, that is, a second-level pre-scheduling pane; the vertices of the second-level pre-scheduling pane are traversed, and other spatial panes having a common vertex relationship with the second-level pre-scheduling pane are queried to obtain a third-level pane, that is, a third-level pre-scheduling pane, and so on; in an embodiment of the present invention, the levels in the hierarchical pre-scheduling pane are usually no more than three levels to ensure that the number of pre-scheduling panes is lower than a controllable value, that is, the number of hierarchical pre-scheduling panes is controlled within 342; if the current spatial pane is located at the edge of the three-dimensional scene, the number of pre-scheduling panes is less than 342.

[0074] Furthermore, a rendering object memory is established in a temporary storage environment, and the rendering object memory is used to store the object to be rendered at the current position and the object to be rendered matched by the hierarchical pre-scheduling pane; wherein the temporary storage environment refers to the computer memory environment, the rendering object memory is a variable set under the temporary storage environment, the object to be rendered at the current position refers to the visible object in the current pane that is about to be pushed into the rendering pipeline, and the object to be rendered that matches the hierarchical pre-scheduling pane refers to the incremental visible object in the hierarchical pre-scheduling pane that may be pushed into the rendering pipeline.

[0075] Then, the priority information of the hierarchical pre-scheduling pane and the state information of the operation agent are obtained according to the statistical results and the trajectory backtracking strategy, wherein the priority information includes a first priority and a second priority, the first priority is a visible object set of historical statistical interest results (for example, a visible object set in a global priority order), and the second priority is a visible object set of the current user trajectory backtracking (for example, a visible object set); the state information includes whether the operation agent is in a moving state, and whether the current position of the operation agent is a first arrival position.

[0076] Step S40, obtaining a target pane of the operation agent according to the three-dimensional space trajectory, performing a comparison process on the target pane to obtain a comparison result, and performing an incremental calculation on the target pane according to the comparison result and the trajectory incremental information to obtain a first incremental result.

[0077] The step S40 comprises:

[0078] Step S41: Track the pane where the operation agent is located according to the three-dimensional space trajectory to obtain a target pane, and extract the remaining panes of the three-dimensional space trajectory;

[0079] Step S42: Compare the information content of the target pane with the information content of the remaining panes according to the time sequence to obtain a comparison result, wherein the information content includes the number of visible objects and the position and posture of the operation agent;

[0080] Step S43: extracting the first object to be rendered of the target pane, and performing incremental calculation on the first object to be rendered according to the comparison result and the trajectory incremental information to obtain a first incremental result.

[0081] Specifically, the pane where the operation agent is located is tracked according to the three-dimensional space trajectory to determine which pane the operation agent is in. The tracking methods include real-time tracking and full search methods. The real-time tracking method is to search 26 panes adjacent to the pane according to the position of the pane where the operation agent previously stopped, and determine which pane the operation agent is in. The full search method is to traverse all panes in the three-dimensional scene, determine the pane where the operation agent is currently located, that is, the target pane, and extract the remaining panes of the three-dimensional space trajectory, that is, other panes, and compare the information content of the target pane with the information content of the remaining panes according to the time sequence to obtain a comparison result, wherein the information content includes the number of visible objects and the position and posture of the operation agent; extract the first object to be rendered in the target pane, and perform incremental calculation on the first object to be rendered according to the comparison result and the trajectory incremental information to obtain a first incremental result; wherein the incremental calculation process is to record the objects to be rendered in the target pane as a set U={Obj 1 ,Obj 2 , ..., Obj n}, the objects to be rendered for comparison are set C = {Obj 1 ,Obj 2 , ..., Obj m}, then the first incremental result is Δ, Δ=CU, where Δ includes two parts: a negative increment and a positive increment. The negative increment is the object to be rendered that decreases from U to C, and the positive increment is the object to be rendered that increases from U to C.

[0082] Step S50: perform incremental calculation on the hierarchical pre-scheduling pane according to the priority information to obtain a second incremental result, and perform visualization processing on the first incremental information and the second incremental information to obtain a visualization result.

[0083] The step S50 comprises:

[0084] Step S51: extracting a second object to be rendered of the hierarchical pre-scheduling pane, and performing incremental calculation on the second object to be rendered according to the priority information to obtain a second incremental result;

[0085] Step S52: Visualize the first incremental information and the second incremental information to obtain a visualization result.

[0086] Specifically, the second object to be rendered in the hierarchical pre-scheduling pane is extracted, and an incremental calculation is performed on the second object to be rendered according to the priority information to obtain a second incremental result, that is, when the user enters the hierarchical pre-scheduling pane, the incremental value in the hierarchical pre-scheduling pane is directly used as the incremental value of the current status without additional calculation; thereafter, the first incremental information and the second incremental information are pushed to the rendering pipeline for visualization processing to obtain a visualization result.

[0087] Furthermore, if Figure 4 As shown, the overall process diagram of the concurrent visualization method of the three-dimensional scene is specifically as follows: obtaining the three-dimensional scene where the user is located, setting the spatial size and object spatial density of the three-dimensional scene, and obtaining a trajectory recording pane according to the spatial size and the object spatial density; obtaining the spatial position and position posture of the user, obtaining a three-dimensional spatial position pane according to the spatial position and the target trajectory recording pane, and obtaining a three-dimensional position posture pane according to the position posture and the target trajectory recording pane; serializing the three-dimensional spatial position pane and the three-dimensional position posture pane to obtain the three-dimensional spatial trajectory of the user; performing statistical processing on the three-dimensional spatial trajectory to obtain statistical results, performing data scheduling processing according to the statistical results to obtain a trajectory backtracking strategy, obtaining a first pane and a second pane of the three-dimensional spatial trajectory, performing posture difference calculation on the first pane and the second pane to obtain posture increment information, and performing visible object difference calculation on the first pane and the second pane to obtain visible set increment information; marking the visible set increment information according to the posture increment information The method comprises the steps of: creating an operation agent of the user according to the three-dimensional scene, setting a spatial pane of the operation agent, extending the spatial pane, establishing an omnidirectional hierarchical pre-scheduling pane, and obtaining the priority information of the hierarchical pre-scheduling pane and the status information of the operation agent according to the statistical result and the trajectory backtracking strategy; tracking the pane where the operation agent is located according to the three-dimensional spatial trajectory to obtain a target pane, and extracting the remaining panes of the three-dimensional spatial trajectory; comparing the information content of the target pane with the information content of the remaining panes according to the time sequence to obtain a comparison result; extracting a first object to be rendered of the target pane, and performing incremental calculation on the first object to be rendered according to the comparison result and the trajectory incremental information to obtain a first incremental result; extracting a second object to be rendered of the hierarchical pre-scheduling pane, and performing incremental calculation on the second object to be rendered according to the priority information to obtain a second incremental result; and visualizing the first incremental information and the second incremental information to obtain a visualization result.

[0088] Furthermore, if Figure 5As shown, based on the above-mentioned concurrent visualization method of three-dimensional scenes, the present invention also provides a concurrent visualization system of three-dimensional scenes accordingly, and the concurrent visualization system of three-dimensional scenes includes:

[0089] A spatial trajectory acquisition module 51 is used to acquire a three-dimensional scene in which a user is located, perform voxel segmentation on the three-dimensional scene, obtain a target trajectory record pane, and obtain the three-dimensional spatial trajectory of the user according to the target trajectory record pane;

[0090] A backtracking increment calculation module 52 is used to perform statistical processing on the three-dimensional space trajectory to obtain statistical results, obtain a trajectory backtracking strategy according to the statistical results, and calculate the three-dimensional space trajectory to obtain trajectory increment information;

[0091] A multi-level pre-scheduling module 53, used to create an operation agent of the user, obtain a level pre-scheduling pane according to the operation agent, and obtain priority information of the level pre-scheduling pane according to the statistical result and the trajectory backtracking strategy;

[0092] A difference increment processing module 54 is used to obtain a target pane of the operation agent according to the three-dimensional space trajectory, perform a comparison process on the target pane to obtain a comparison result, and perform an increment calculation on the target pane according to the comparison result and the trajectory increment information to obtain a first increment result;

[0093] The visualization rendering module 55 is used to perform incremental calculation on the hierarchical pre-scheduling pane according to the priority information to obtain a second incremental result, and to perform visualization processing on the first incremental information and the second incremental information to obtain a visualization result.

[0094] Furthermore, if Figure 6 As shown, based on the above-mentioned concurrent visualization method of three-dimensional scenes, the present invention also provides a terminal accordingly, and the terminal includes a processor 10, a memory 20 and a display 30. Figure 6 Only some components of the terminal are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0095] In some embodiments, the memory 20 may be an internal storage unit of the terminal, such as a hard disk or memory of the terminal. In other embodiments, the memory 20 may also be an external storage device of the terminal, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the terminal. Further, the memory 20 may also include both an internal storage unit of the terminal and an external storage device. The memory 20 is used to store application software and various types of data installed on the terminal, such as the program code of the installation terminal. The memory 20 may also be used to temporarily store data that has been output or is to be output. In one embodiment, a concurrent visualization program 40 of a three-dimensional scene is stored on the memory 20, and the concurrent visualization program 40 of the three-dimensional scene can be executed by the processor 10, thereby realizing the concurrent visualization method of the three-dimensional scene in the present application.

[0096] In some embodiments, the processor 10 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run the program code or process data stored in the memory 20, such as executing the concurrent visualization method of the three-dimensional scene.

[0097] In some embodiments, the display 30 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 30 is used to display information on the terminal and to display a visual user interface. The components 10-30 of the terminal communicate with each other via a system bus.

[0098] In one embodiment, when the processor 10 executes the concurrent visualization program 40 of the three-dimensional scene in the memory 20, the following steps are implemented:

[0099] Acquire a three-dimensional scene in which a user is located, perform voxel segmentation on the three-dimensional scene to obtain a target trajectory record pane, and obtain the three-dimensional space trajectory of the user according to the target trajectory record pane;

[0100] Performing statistical processing on the three-dimensional space trajectory to obtain statistical results, obtaining a trajectory backtracking strategy according to the statistical results, and calculating the three-dimensional space trajectory to obtain trajectory increment information;

[0101] Creating an operation agent for the user, obtaining a hierarchical pre-scheduling pane according to the operation agent, and obtaining priority information of the hierarchical pre-scheduling pane according to the statistical result and the trajectory backtracking strategy;

[0102] Obtaining a target pane of the operation agent according to the three-dimensional space trajectory, performing a comparison process on the target pane to obtain a comparison result, and performing an incremental calculation on the target pane according to the comparison result and the trajectory incremental information to obtain a first incremental result;

[0103] Incremental calculation is performed on the hierarchical pre-scheduling pane according to the priority information to obtain a second incremental result, and visualization is performed on the first incremental information and the second incremental information to obtain a visualization result.

[0104] The acquiring of the three-dimensional scene in which the user is located, performing voxel segmentation on the three-dimensional scene to obtain a target trajectory record pane, and obtaining the three-dimensional space trajectory of the user according to the target trajectory record pane specifically includes:

[0105] Acquire the three-dimensional scene where the user is located, set the space size and object space density of the three-dimensional scene, obtain a track record pane according to the space size and the object space density, and number the track record panes to obtain a target track record pane;

[0106] Acquire the spatial position and position posture of the user, obtain a three-dimensional spatial position pane according to the spatial position and the target track record pane, and obtain a three-dimensional position posture pane according to the position posture and the target track record pane;

[0107] The three-dimensional space position pane and the three-dimensional position posture pane are serialized to obtain the three-dimensional space trajectory of the user.

[0108] The three-dimensional space trajectory is statistically processed to obtain a statistical result, and a trajectory backtracking strategy is obtained according to the statistical result, specifically including:

[0109] Performing statistical processing on the three-dimensional space trajectory to obtain statistical results, wherein the statistical results include the number of times the window pane is stayed, the length of time the window pane is stayed, and the observation posture of the window pane;

[0110] Data scheduling processing is performed according to the statistical results to obtain a trajectory backtracking strategy, wherein the trajectory backtracking strategy includes a reverse direction backtracking strategy and a jump backtracking strategy.

[0111] The step of calculating the three-dimensional space trajectory to obtain trajectory increment information specifically includes:

[0112] Acquire a first window pane and a second window pane of the three-dimensional space trajectory, wherein the first window pane and the second window pane are adjacent to each other;

[0113] Performing posture difference calculation on the first pane and the second pane to obtain posture increment information, and performing visible object difference calculation on the first pane and the second pane to obtain visible set increment information;

[0114] The visible set incremental information is marked according to the posture incremental information to obtain trajectory incremental information.

[0115] The step of creating the operation agent of the user, obtaining the hierarchical pre-scheduling pane according to the operation agent, and obtaining the priority information of the hierarchical pre-scheduling pane according to the statistical result and the trace back strategy specifically includes:

[0116] Creating an operation agent of the user according to the three-dimensional scene, and setting a spatial pane of the operation agent;

[0117] Performing a pane query according to the common vertex relationship of the spatial panes to obtain a first-level pre-scheduling pane, performing a pane query according to the common vertex relationship of the first-level pre-scheduling panes to obtain a second-level pre-scheduling pane, and performing a pane query according to the common vertex relationship of the second-level pre-scheduling panes to obtain a third-level pre-scheduling pane;

[0118] A hierarchical pre-scheduling pane is constructed according to the first-level pre-scheduling pane, the second-level pre-scheduling pane, and the third-level pre-scheduling pane, and priority information of the hierarchical pre-scheduling pane is obtained according to the statistical result and the trace back strategy.

[0119] The step of obtaining a target pane of the operation agent according to the three-dimensional space trajectory, performing a comparison process on the target pane to obtain a comparison result, and performing an incremental calculation on the target pane according to the comparison result and the trajectory incremental information to obtain a first incremental result specifically includes:

[0120] Tracking the pane where the operation agent is located according to the three-dimensional space trajectory to obtain a target pane, and extracting remaining panes of the three-dimensional space trajectory;

[0121] Comparing the information content of the target pane with the information content of the remaining panes according to the time sequence to obtain a comparison result, wherein the information content includes the number of visible objects and the position and posture of the operation agent;

[0122] A first object to be rendered of the target pane is extracted, and an incremental calculation is performed on the first object to be rendered according to the comparison result and the trajectory incremental information to obtain a first incremental result.

[0123] The performing incremental calculation on the hierarchical pre-scheduling pane according to the priority information to obtain a second incremental result, and performing visualization processing on the first incremental information and the second incremental information to obtain a visualization result specifically includes:

[0124] Extracting a second object to be rendered of the hierarchical pre-scheduling pane, and performing incremental calculation on the second object to be rendered according to the priority information to obtain a second incremental result;

[0125] Visualization processing is performed on the first incremental information and the second incremental information to obtain a visualization result.

[0126] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a concurrent visualization program for a three-dimensional scene, and when the concurrent visualization program for a three-dimensional scene is executed by a processor, the steps of the concurrent visualization method for a three-dimensional scene as described above are implemented.

[0127] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0128] Of course, those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the program can be stored in a computer-readable storage medium that can be read by a computer, and the program can include the processes of the above-mentioned method embodiments when executed. The computer-readable storage medium can be a memory, a disk, an optical disk, etc.

[0129] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A concurrent visualization method for a three-dimensional scene, characterized in that: The concurrent visualization method of the three-dimensional scene comprises: Acquire a three-dimensional scene in which a user is located, perform voxel segmentation on the three-dimensional scene to obtain a target trajectory record pane, and obtain the three-dimensional space trajectory of the user according to the target trajectory record pane; Performing statistical processing on the three-dimensional space trajectory to obtain statistical results, obtaining a trajectory backtracking strategy according to the statistical results, and calculating the three-dimensional space trajectory to obtain trajectory increment information; The statistical processing of the three-dimensional space trajectory to obtain a statistical result, and obtaining a trajectory backtracking strategy according to the statistical result specifically includes: Performing statistical processing on the three-dimensional space trajectory to obtain statistical results, wherein the statistical results include the number of times the window pane is stayed, the length of time the window pane is stayed, and the observation posture of the window pane; Performing data scheduling processing according to the statistical results to obtain a trajectory backtracking strategy, wherein the trajectory backtracking strategy includes a reverse direction backtracking strategy and a jump backtracking strategy; The calculating the three-dimensional space trajectory to obtain trajectory increment information specifically includes: Acquire a first window pane and a second window pane of the three-dimensional space trajectory, wherein the first window pane and the second window pane are adjacent to each other; Performing posture difference calculation on the first pane and the second pane to obtain posture increment information, and performing visible object difference calculation on the first pane and the second pane to obtain visible set increment information; Marking the visible set incremental information according to the posture incremental information to obtain trajectory incremental information; Creating an operation agent for the user, obtaining a hierarchical pre-scheduling pane according to the operation agent, and obtaining priority information of the hierarchical pre-scheduling pane according to the statistical result and the trajectory backtracking strategy, wherein the hierarchical pre-scheduling pane is obtained by extending the spatial pane for setting the operation agent; Obtaining a target pane of the operation agent according to the three-dimensional space trajectory, comparing information content of the target pane with information content of remaining panes of the three-dimensional space trajectory according to a time sequence to obtain a comparison result, and performing incremental calculation on the target pane according to the comparison result and the trajectory incremental information to obtain a first incremental result; Incremental calculation is performed on the hierarchical pre-scheduling pane according to the priority information to obtain a second incremental result, and the first incremental result and the second incremental result are visualized to obtain a visualization result.

2. The concurrent visualization method of three-dimensional scenes according to claim 1, characterized in that: The acquiring of the three-dimensional scene in which the user is located, performing voxel segmentation on the three-dimensional scene to obtain a target trajectory record pane, and obtaining the three-dimensional space trajectory of the user according to the target trajectory record pane specifically includes: Acquire a three-dimensional scene in which the user is located, set the space size of the three-dimensional scene, extract the number of objects in the three-dimensional scene according to the space size, and calculate the object space density according to the space size and the number of objects; Obtaining a track record pane according to the space size and the object space density, and numbering the track record panes to obtain a target track record pane; Acquire the spatial position and position posture of the user, obtain a three-dimensional spatial position pane according to the spatial position and the target track record pane, and obtain a three-dimensional position posture pane according to the position posture and the target track record pane; The three-dimensional space position pane and the three-dimensional position posture pane are serialized to obtain the three-dimensional space trajectory of the user.

3. The concurrent visualization method of three-dimensional scenes according to claim 1, characterized in that: The creating the operation agent of the user, obtaining the hierarchical pre-scheduling pane according to the operation agent, and obtaining the priority information of the hierarchical pre-scheduling pane according to the statistical result and the trace back strategy specifically includes: Creating an operation agent of the user according to the three-dimensional scene, and setting a spatial pane of the operation agent; Performing a pane query according to the common vertex relationship of the spatial panes to obtain a first-level pre-scheduling pane, performing a pane query according to the common vertex relationship of the first-level pre-scheduling panes to obtain a second-level pre-scheduling pane, and performing a pane query according to the common vertex relationship of the second-level pre-scheduling panes to obtain a third-level pre-scheduling pane; A hierarchical pre-scheduling pane is constructed according to the first-level pre-scheduling pane, the second-level pre-scheduling pane, and the third-level pre-scheduling pane, and priority information of the hierarchical pre-scheduling pane is obtained according to the statistical result and the trace back strategy.

4. The concurrent visualization method of three-dimensional scenes according to claim 1, characterized in that: The step of obtaining a target pane of the operation agent according to the three-dimensional space trajectory, comparing information content of the target pane with information content of remaining panes of the three-dimensional space trajectory according to a time sequence to obtain a comparison result, and performing incremental calculation on the target pane according to the comparison result and the trajectory incremental information to obtain a first incremental result specifically includes: Tracking the pane where the operation agent is located according to the three-dimensional space trajectory to obtain a target pane, and extracting remaining panes of the three-dimensional space trajectory; Comparing the information content of the target pane with the information content of the remaining panes according to the time sequence to obtain a comparison result, wherein the information content includes the number of visible objects and the position and posture of the operation agent; A first object to be rendered of the target pane is extracted, and an incremental calculation is performed on the first object to be rendered according to the comparison result and the trajectory incremental information to obtain a first incremental result.

5. The concurrent visualization method of three-dimensional scenes according to claim 1, characterized in that: The step of performing incremental calculation on the hierarchical pre-scheduling pane according to the priority information to obtain a second incremental result, and performing visualization processing on the first incremental result and the second incremental result to obtain a visualization result specifically includes: Extracting a second object to be rendered of the hierarchical pre-scheduling pane, and performing incremental calculation on the second object to be rendered according to the priority information to obtain a second incremental result; Visualization processing is performed on the first incremental result and the second incremental result to obtain a visualization result.

6. A concurrent visualization system for three-dimensional scenes, characterized in that: The concurrent visualization system of the three-dimensional scene comprises: A spatial trajectory acquisition module, used to acquire a three-dimensional scene in which a user is located, perform voxel segmentation on the three-dimensional scene, obtain a target trajectory record pane, and obtain the three-dimensional spatial trajectory of the user according to the target trajectory record pane; A backtracking increment calculation module is used to perform statistical processing on the three-dimensional space trajectory to obtain statistical results, obtain a trajectory backtracking strategy according to the statistical results, and calculate the three-dimensional space trajectory to obtain trajectory increment information; The statistical processing of the three-dimensional space trajectory to obtain a statistical result, and obtaining a trajectory backtracking strategy according to the statistical result specifically includes: Performing statistical processing on the three-dimensional space trajectory to obtain statistical results, wherein the statistical results include the number of times the window pane is stayed, the length of time the window pane is stayed, and the observation posture of the window pane; Performing data scheduling processing according to the statistical results to obtain a trajectory backtracking strategy, wherein the trajectory backtracking strategy includes a reverse direction backtracking strategy and a jump backtracking strategy; The calculating the three-dimensional space trajectory to obtain trajectory increment information specifically includes: Acquire a first window pane and a second window pane of the three-dimensional space trajectory, wherein the first window pane and the second window pane are adjacent to each other; Performing posture difference calculation on the first pane and the second pane to obtain posture increment information, and performing visible object difference calculation on the first pane and the second pane to obtain visible set increment information; Marking the visible set incremental information according to the posture incremental information to obtain trajectory incremental information; a multi-level pre-scheduling module, used to create an operation agent of the user, obtain a level pre-scheduling pane according to the operation agent, and obtain priority information of the level pre-scheduling pane according to the statistical result and the trajectory backtracking strategy, wherein the level pre-scheduling pane is obtained by extending the spatial pane for setting the operation agent; a difference increment processing module, configured to obtain a target pane of the operation agent according to the three-dimensional space trajectory, compare information content of the target pane with information content of remaining panes of the three-dimensional space trajectory according to a time sequence to obtain a comparison result, and perform an increment calculation on the target pane according to the comparison result and the trajectory increment information to obtain a first increment result; A visualization rendering module is used to perform incremental calculation on the hierarchical pre-scheduling pane according to the priority information to obtain a second incremental result, and to perform visualization processing on the first incremental result and the second incremental result to obtain a visualization result.

7. A terminal, characterized in that: The terminal includes a memory, a processor, and a program stored in the memory and executable on the processor. When the program is executed by the processor, the steps of the concurrent visualization method of the three-dimensional scene as described in any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium, characterized in that: A computer program is stored thereon, wherein the computer-readable storage medium stores a concurrent visualization program for a three-dimensional scene, and when the concurrent visualization program for a three-dimensional scene is executed by a processor, the steps of the concurrent visualization method for a three-dimensional scene as described in any one of claims 1-5 are implemented.

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