Data processing method and device, electronic equipment and computer medium

Abstract

The invention discloses a data processing method and device, electronic equipment and a computer medium, and the method comprises the steps: obtaining information of a plurality of wall surfaces corresponding to a plurality of wall surfaces in a current environment, reference height information of a ceiling inputted by a user, and a plurality of environment images corresponding to the plurality of wall surfaces; based on the multiple pieces of wall surface information and the reference height information, ceiling intersection line information corresponding to each wall surface in the multiple wall surfaces is determined, and multiple pieces of ceiling intersection line information corresponding to the multiple pieces of wall surface information are obtained; for each wall surface, determining a to-be-processed intersection line corresponding to the wall surface after the ceiling intersection line information corresponding to the wall surface is projected to the environment image corresponding to the wall surface; the target height of the ceiling in the environment is determined according to the multiple to-be-processed intersecting lines corresponding to the multiple wall surfaces and the multiple environment images, and the technical scheme provided by the embodiment of the invention can play a role in improving the accuracy of the position of the ceiling.

Description

Technical Field

[0001] The present disclosure belongs to the field of mixed reality technology, and in particular, relates to a data processing method, device, electronic device and computer medium. Background Art

[0002] Mixed Reality (MR) technology is a further development of virtual reality technology. This technology introduces real scene information into the virtual environment, builds an interactive feedback information loop between the virtual world, the real world and the user, and enhances the realism of the user experience. In related technologies, the wall can be calibrated by MR technology, and then the ceiling can be calibrated based on the position of the wall. However, when the user calibrates the wall or ceiling, the image in the head-mounted display device may be interfered by other objects such as furniture in the current environment, resulting in the wall or ceiling being blocked. The calibration accuracy of the blocked area is low, and the final position accuracy of the ceiling is low. Summary of the invention

[0003] The embodiment of the present disclosure provides an implementation scheme different from the related art to solve the technical problem of low accuracy in determining the position of the ceiling in the related art.

[0004] In a first aspect, the present disclosure provides a data processing method, comprising:

[0005] Acquire multiple wall information corresponding to multiple walls in the current environment and reference height information of the ceiling input by the user, as well as multiple environment images corresponding to the multiple walls;

[0006] Based on the multiple wall surface information and the reference height information, determine the ceiling intersection line information corresponding to each of the multiple wall surfaces, and obtain multiple ceiling intersection line information corresponding to the multiple wall surfaces;

[0007] For each wall, determine the to-be-processed intersection line corresponding to the wall obtained after the ceiling intersection line information corresponding to the wall is projected into the environment image corresponding to the wall;

[0008] A target height of a ceiling in the environment is determined according to a plurality of to-be-processed intersection lines corresponding to the plurality of walls and the plurality of environment images.

[0009] In a second aspect, the present disclosure provides a data processing device, comprising:

[0010] An acquisition unit, used to acquire a plurality of wall information corresponding to a plurality of wall surfaces in a current environment and a reference height information of a ceiling input by a user, as well as a plurality of environment images corresponding to the plurality of wall surfaces;

[0011] a determining unit, configured to determine ceiling intersection line information corresponding to each of the plurality of wall surfaces based on the plurality of wall surface information and the reference height information, and obtain a plurality of ceiling intersection line information corresponding to the plurality of wall surfaces;

[0012] The determination unit is further used to determine, for each wall, a to-be-processed intersection line corresponding to the wall obtained after the ceiling intersection line information corresponding to the wall is projected into the environment image corresponding to the wall;

[0013] The determining unit is further configured to determine a target height of a ceiling in the environment according to a plurality of to-be-processed intersection lines corresponding to the plurality of walls and the plurality of environment images.

[0014] In a third aspect, the present disclosure provides an electronic device, including:

[0015] Processor; and

[0016] A memory, configured to store executable instructions of the processor;

[0017] The processor is configured to execute any one of the methods in the first aspect and each possible implementation manner of the first aspect by executing the executable instructions.

[0018] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the computer program implements any one of the methods in the first aspect and any possible implementation manners of the first aspect.

[0019] In a fifth aspect, an embodiment of the present disclosure provides a computer program product, including a computer program, which, when executed by a processor, implements the first aspect and any one of the methods in the possible implementation modes of the first aspect.

[0020] The present disclosure provides a method for obtaining multiple wall information corresponding to multiple walls in the current environment and reference height information of the ceiling input by the user, as well as multiple environmental images corresponding to the multiple walls; based on the multiple wall information and the reference height information, determining the ceiling intersection line information corresponding to each of the multiple walls, and obtaining multiple ceiling intersection line information corresponding to the multiple walls; for each wall, determining the unprocessed intersection line corresponding to the wall after the ceiling intersection line information corresponding to the wall is projected into the environmental image corresponding to the wall; determining a target height of the ceiling in the environment according to the multiple unprocessed intersection lines corresponding to the multiple walls and the multiple environmental images, the ceiling intersection lines corresponding to the walls can be projected into the environmental image to obtain the unprocessed intersection lines, and then processed based on the unprocessed intersection lines in the environmental image to reduce errors and obtain a ceiling height with higher precision, thereby effectively improving the accuracy of the ceiling position. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0022] Figure 1 A schematic diagram of a system structure provided for an exemplary embodiment of the present disclosure;

[0023] Figure 2 A flowchart of a data processing method provided for an exemplary embodiment of the present disclosure;

[0024] Figure 3 A flowchart of a data processing method provided for an exemplary embodiment of the present disclosure;

[0025] Figure 4 A schematic diagram of the structure of a data processing device provided by an embodiment of the present disclosure;

[0026] Figure 5 A schematic structural diagram of an electronic device is provided in accordance with an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] Embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, but should not be understood as limiting the present disclosure.

[0028] The terms "first" and "second" and the like in the specification, claims, and drawings of the disclosed embodiments are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the disclosed embodiments described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0029] First, some terms in the embodiments of the present disclosure are explained below to facilitate understanding by those skilled in the art.

[0030] Simultaneous Localization and Mapping (SLAM) means that a robot starts moving from an unknown position in an unknown environment, locates itself according to the position and map during the movement, and builds an incremental map based on its own positioning to achieve autonomous positioning and navigation of the robot.

[0031] Canny edge detection is a method of detecting edges using a multi-level edge detection algorithm.

[0032] Delaunay triangulation: If a triangulation T of a point set V contains only Delaunay edges, then the triangulation is called a Delaunay triangulation.

[0033] Delaunay edge: Suppose there is an edge e in E (with two endpoints a and b). If e satisfies the following conditions, it is called a Delaunay edge: there exists a circle passing through points a and b, and the circle does not contain any other points in the point set V (note that it is inside the circle, and at most three points on the circle share the same circle). This property is also called the empty circle property.

[0034] Mixed Reality (MR) technology is a further development of virtual reality technology. This technology introduces real scene information into the virtual environment, builds an interactive feedback information loop between the virtual world, the real world and the user, so as to enhance the realism of the user experience. In the related art, the ceiling can be generated by MR technology, but when the user calibrates the ceiling, the picture in the head-mounted display device worn by the user may be interfered by other objects such as furniture in the current environment, resulting in the ceiling being blocked. The calibration accuracy of the blocked area is low, and the final position accuracy of the ceiling is low. Therefore, the present disclosure provides a data processing method, device, electronic device and computer medium for solving the technical problem of low accuracy in determining the position of the ceiling in the related art.

[0035] The following specific embodiments are used to describe in detail the technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0036] Figure 1 This is a schematic diagram of a system structure provided by an exemplary embodiment of the present disclosure, and the structure includes: a head mounted display device 10 and a control device 20. The head mounted display device 10 and the control device 20 are connected via a network, for example, via a wired or wireless network connection.

[0037] In an optional embodiment, the head-mounted display device 10 is used to be worn by a user and to interact with the user. Specifically, the user can interact with the head-mounted display device 10, or the scene image displayed in the head-mounted display device 10, through any one or more of a variety of methods such as a handheld device (such as a handle or a motion capture glove, etc.), voice, eyeballs, gestures, etc., and the scene image can be an MR image.

[0038] The aforementioned control device 20 may be a terminal or a server. The terminal may be a smart phone, a tablet computer, a laptop computer, an intelligent voice interaction device, a smart home appliance, etc. The terminal may also include a client, which may be a video client, a browser client, or an instant messaging client. The server may be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms.

[0039] The aforementioned control device 20 can be used to provide the aforementioned scene image to the head-mounted display device 10.

[0040] In some embodiments, when the head mounted display device 10 displays a scene screen received from the control device 20, the control device 20 may be used to perform the following data processing method: obtaining multiple wall information corresponding to multiple walls in the current environment and the reference height information of the ceiling input by the user, as well as multiple environment images corresponding to the multiple walls; determining the ceiling intersection line information corresponding to each of the multiple walls based on the multiple wall information and the reference height information, and obtaining multiple ceiling intersection line information corresponding to the multiple walls; for each wall, determining the to-be-processed intersection line corresponding to the wall obtained after the ceiling intersection line information corresponding to the wall is projected into the environment image corresponding to the wall; determining the target height of the ceiling in the environment according to the multiple to-be-processed intersection lines corresponding to the multiple walls and the multiple environment images. The head mounted display device 10 is used to: collect multiple environment images corresponding to the multiple walls, and send the multiple environment images to the control device 20.

[0041] In some embodiments, the head mounted display device 10 may be provided with a display, and the display is used to display multiple environment images.

[0042] In some embodiments, the multiple walls may be multiple walls in a house in the current environment, and the walls and the wall information correspond one to one.

[0043] In some embodiments, the wall information may be represented as a plane equation corresponding to the plane where the wall is located.

[0044] In some embodiments, the user may be a person or a robot wearing a head-mounted display device, and the user may input the reference height information of the ceiling through a handheld device, for example, by obtaining the reference height information of the ceiling through the positioning function, sensor or other technology of the handheld device; the user may also manually set the reference height information of the ceiling in a related application.

[0045] In some embodiments, the reference height information of the ceiling may be represented by a plane equation of a plane perpendicular to the z-axis.

[0046] In some embodiments, the head mounted display device may include an external camera, which is used to collect environmental images. The user can change the position and posture of the head mounted display device to enable the external camera to collect multiple environmental images corresponding to multiple walls, and the environmental images can also be used for SLAM.

[0047] In some embodiments, a wall surface may correspond to one environment image or multiple environment images.

[0048] In some embodiments, the target height of the ceiling in the environment is the actual height of the ceiling.

[0049] In another optional embodiment, the aforementioned data processing method can also be executed by the head-mounted display device 10 itself, and the system can also only include the head-mounted display device 10, that is, the head-mounted display device 10 is an all-in-one machine. Specifically, the head-mounted display device 10 is used to: obtain multiple wall information corresponding to multiple walls in the current environment and reference height information of the ceiling input by the user, as well as multiple environmental images corresponding to the multiple walls; based on the multiple wall information and the reference height information, determine the ceiling intersection line information corresponding to each of the multiple walls to obtain multiple ceiling intersection line information corresponding to the multiple walls; for each of the walls, determine the to-be-processed intersection line corresponding to the wall after the ceiling intersection line information corresponding to the wall is projected into the environmental image corresponding to the wall; determine the target height of the ceiling in the environment according to the multiple to-be-processed intersection lines corresponding to the multiple walls and the multiple environmental images.

[0050] The execution principles and interaction processes of the various component units in the embodiment of the system, such as the aforementioned head mounted display device 10 and the control device 20, can be found in the description of the following method embodiments.

[0051] Figure 2A flowchart of a data processing method provided by an exemplary embodiment of the present disclosure is provided. The method may be applicable to a head mounted display device. The method at least includes the following steps S21-S24:

[0052] S21, acquiring multiple wall information corresponding to multiple walls in the current environment and reference height information of the ceiling input by the user, as well as multiple environment images corresponding to the multiple walls;

[0053] In some embodiments, the multiple walls may be multiple walls in a house in the current environment, and the walls and the wall information correspond one to one.

[0054] In some embodiments, the wall information can be expressed as a plane equation corresponding to the plane where the wall is located. For example, the wall information can be: ax+by+d=0, wherein x and y are respectively the horizontal coordinate and vertical coordinate of any point on the plane where the wall is located, a and b are respectively the coefficients of x and y, a and b are not 0, d is a constant, and the equation represents the plane parallel to the z-axis in the world coordinate system in the current environment.

[0055] In some embodiments, the user may be a person or a robot wearing a head-mounted display device, and the user may input the reference height information of the ceiling through a handheld device, for example, by obtaining the reference height information of the ceiling through the positioning function, sensor or other technology of the handheld device; or obtain the reference height information of the ceiling through interactive annotation with the virtual environment displayed in the head-mounted display device; the user may also manually set the reference height information of the ceiling in a related application.

[0056] In some embodiments, the reference height information of the ceiling can be expressed by a plane equation of a plane perpendicular to the z-axis. Specifically, it can be expressed as: z=h 1 , where h 1 Is a positive number.

[0057] In some embodiments, the head mounted display device may include an external camera, which is used to collect environmental images. The user can change the position and posture of the head mounted display device to enable the external camera to collect multiple environmental images corresponding to multiple walls, and the environmental images can also be used for SLAM.

[0058] In some embodiments, a wall surface may correspond to one environment image or multiple environment images.

[0059] S22, based on the multiple wall surface information and the reference height information, determining the ceiling intersection line information corresponding to each of the multiple wall surfaces, and obtaining multiple ceiling intersection line information corresponding to the multiple wall surfaces;

[0060] In some embodiments, the ceiling intersection line information may be expressed as a straight line equation corresponding to the ceiling intersection line.

[0061] In some embodiments, in S22, based on the plurality of wall information and the reference height information, determining the ceiling intersection line information corresponding to each of the plurality of wall surfaces includes:

[0062] For each wall surface information of the multiple walls, the plane equation indicated by the wall surface information and the plane equation indicated by the reference height information of the ceiling are jointly established to obtain the ceiling intersection line information corresponding to the wall surface.

[0063] In some embodiments, the ceiling intersection line information corresponding to the wall surface may be determined by using a computational method for solving an intersection line equation based on two plane equations in related technologies (eg, Gaussian elimination method, matrix operation).

[0064] S23, for each wall, determining the to-be-processed intersection line corresponding to the wall obtained after the ceiling intersection line information corresponding to the wall is projected into the environment image corresponding to the wall;

[0065] In some optional embodiments provided by the present disclosure, in S23, after determining that the ceiling intersection line information corresponding to the wall is projected into the environment image corresponding to the wall, the obtained to-be-processed intersection line corresponding to the wall includes S231-S234:

[0066] S231, obtaining preset camera parameter information and the coordinates of two first endpoints of the ceiling intersection line corresponding to the wall, wherein the preset camera parameters include rotation parameters, translation parameters and a preset coordinate conversion formula;

[0067] In some embodiments, the rotation parameter, the translation parameter and the preset coordinate conversion formula may be known data acquired in advance, and the preset coordinate conversion formula may be provided by the manufacturer of the external camera in the head mounted display device. The rotation parameter may be expressed as R, the translation parameter may be expressed as T, and the preset coordinate conversion formula may be expressed as π(·).

[0068] In some embodiments, the method further comprises:

[0069] According to the plurality of ceiling intersection lines corresponding to the plurality of wall surfaces, coordinates of two first endpoints of each ceiling intersection line among the plurality of ceiling intersection lines corresponding to the plurality of wall surfaces are determined.

[0070] In some embodiments, for each wall, the ceiling intersection line information corresponding to the wall can be the straight line equation corresponding to the ceiling intersection line. Further, multiple straight line equations corresponding to multiple ceiling intersection line information can be obtained. The points where multiple ceiling intersection line information intersect are multiple first endpoints corresponding to multiple ceilings. One ceiling intersection line information has two first endpoints, and every two adjacent ceiling intersection line information has an overlapping first endpoint.

[0071] S232, determining, for the coordinates of each of the two first endpoints, a first difference between the coordinates of the first endpoint and the translation parameter;

[0072] In some embodiments, the translation parameter may be a translation vector of the camera, and a first difference between the coordinates of the first endpoint and the translation parameter may represent the coordinates of the first endpoint in the camera coordinate system, that is, by subtracting the translation vector of the camera from the world coordinate system of the first endpoint, the first endpoint may be transformed from the world coordinate system to the camera coordinate system.

[0073] In some embodiments, the coordinates of the two first endpoints can be represented as P 1 and P 2 , then the first difference between the coordinates of the two first endpoints and the translation parameter can be expressed as P 1 -T and P 2 -T,

[0074] S233, determining a first product of the first difference and the rotation parameter;

[0075] In some embodiments, the rotation parameter may be a transposed matrix of a rotation matrix of a camera, and a first product of the first difference and the rotation parameter is equivalent to transforming the coordinates of the first endpoint from a camera coordinate system to a world coordinate system.

[0076] In some embodiments, each first difference value and the first product of the rotation parameter can be expressed as R(P 1 -T) and R(P 2 -T).

[0077] S234, inputting the first product into the preset coordinate conversion formula, determining the second endpoint corresponding to the first endpoint in the environment image corresponding to the wall, and obtaining the two second endpoints corresponding to the two first endpoints in the environment image corresponding to the wall;

[0078] In some embodiments, the first product is input into the preset coordinate conversion formula to obtain two second endpoints corresponding to the two first endpoints in the environment image corresponding to the wall, and the two pixel coordinates of the two second endpoints are px 1 and px2 , where px 1 =π[R(P 1 -T)],px 2 =π[R(P 2 -T)].

[0079] S235 , connecting the two second endpoints to obtain the ceiling intersection line information corresponding to the wall and projecting it into the environment image corresponding to the wall to obtain the to-be-processed intersection line corresponding to the wall.

[0080] In some embodiments, the to-be-processed intersection line corresponding to the wall surface may be represented as a plurality of pixel point coordinates of a plurality of pixel points included in the to-be-processed intersection line.

[0081] S24: Determine a target height of a ceiling in the environment according to a plurality of to-be-processed intersection lines corresponding to the plurality of walls and the plurality of environment images.

[0082] In some embodiments, the target height of the ceiling in the environment is the actual height of the ceiling.

[0083] In some optional embodiments provided by the present disclosure, in S24, determining a target height of a ceiling in the environment according to a plurality of to-be-processed intersection lines corresponding to the plurality of walls and the plurality of environment images includes S241-S242:

[0084] S241, for each of the multiple wall surfaces, identifying a group of edge line segments corresponding to the to-be-processed intersection line corresponding to the wall surface in the environment image corresponding to the wall surface, to obtain multiple groups of edge line segments corresponding to the multiple wall surfaces;

[0085] In some embodiments, a group of edge line segments corresponding to the to-be-processed intersection line corresponding to the wall surface may be edge information of other objects (such as decorations, furniture, etc.) around the ceiling in the environment image.

[0086] In some optional embodiments provided by the present disclosure, in S241, identifying a group of edge line segments corresponding to the to-be-processed intersection line corresponding to the wall in the environment image corresponding to the wall includes S2411-S2412:

[0087] S2411, obtaining a first preset length;

[0088] In some embodiments, the first preset length may be represented as the length of a plurality of pixels arranged in a row in the environment image. For example, the first preset length may be the length of 20 pixels.

[0089] S2412, determining, according to the first preset length and the intersection line to be processed, a target image region corresponding to the intersection line to be processed in the environment image corresponding to the wall surface;

[0090] In some embodiments, in S2412, determining, in the environment image corresponding to the wall surface according to the first preset length and the intersection line to be processed, a target image area corresponding to the intersection line to be processed includes:

[0091] For each of the two second endpoints of the intersection line to be processed, based on the second endpoint, determining a reference line segment perpendicular to the intersection line to be processed and having a length equal to the first preset length, thereby obtaining two reference line segments, wherein the center point of the reference line segment intersects with the second endpoint;

[0092] Determining four third endpoints of the two reference line segments;

[0093] Connect the four third endpoints in sequence to obtain rectangles corresponding to the four third endpoints;

[0094] The area occupied by the rectangle in the environment image is determined as the target image area corresponding to the to-be-processed intersection line in the environment image corresponding to the wall.

[0095] S2413: Perform edge detection on the target image area based on a preset algorithm to obtain a group of edge line segments corresponding to the intersection lines to be processed.

[0096] In some embodiments, the preset algorithm may be a Canny edge detection algorithm, or may be other related algorithms for edge detection, which is not specifically limited in the present disclosure.

[0097] S242: Determine a target height of a ceiling in the environment based on the multiple to-be-processed intersection lines corresponding to the multiple walls and the multiple groups of edge line segments.

[0098] In some embodiments, each of the plurality of intersection lines to be processed corresponds to a group of edge line segments, and the group of edge line segments includes a plurality of edge line segments.

[0099] In some optional embodiments provided by the present disclosure, in S242, determining a target height of a ceiling in the environment based on a plurality of to-be-processed intersection lines corresponding to the plurality of wall surfaces and the plurality of groups of edge line segments includes S2421-S2425:

[0100] S2421. For each wall surface among the multiple wall surfaces, obtain line segment information of multiple edge line segments corresponding to the to-be-processed intersection line corresponding to the wall surface;

[0101] In some embodiments, the line segment information may include length information, position information, etc. of multiple edge line segments, and the position information may be the coordinates of multiple pixel points constituting the edge line segments.

[0102] S2422, based on the line segment information, selecting a target edge line segment that meets a preset condition from the plurality of edge line segments;

[0103] In some embodiments, in S2422, based on the line segment information, a target edge line segment that meets a preset condition is screened out from the edge line segments, including S01-S03:

[0104] S01. Based on the line segment information, determine the angle between each edge line segment in the plurality of edge line segments and the intersection line to be processed, and obtain a plurality of angles between the plurality of edge line segments and the intersection line to be processed;

[0105] In some embodiments, the angle between each edge line segment in the plurality of edge line segments and the intersection line to be processed may be determined based on the coordinates of the plurality of pixels constituting the edge line segment and the coordinates of the plurality of pixels included in the intersection line to be processed.

[0106] S02, determining, among the edge line segments, edge line segments whose included angle with the to-be-processed intersection line is smaller than a preset angle as candidate edge line segments;

[0107] In some embodiments, the preset angle may be a smaller angle, for example, may be 1°.

[0108] S03: Determine, among the candidate edge segments, a candidate edge segment with the longest length and a length greater than a second preset length as a target edge segment meeting a preset condition.

[0109] In some embodiments, the second preset length can be flexibly set by relevant personnel, for example, it can be a length of 20 pixels.

[0110] In some embodiments, if the length of the candidate edge segment is not greater than the second preset length, the candidate edge segment may be considered as an invalid edge segment, and the invalid edge segment does not participate in the subsequent data processing process.

[0111] S2423. For each of the two second endpoints, based on preset camera parameters, the coordinates of the first endpoint corresponding to the second endpoint and a preset coordinate conversion formula, determine a first function corresponding to the second endpoint, and obtain two first functions corresponding to the two second endpoints, where the height of the ceiling is an unknown parameter of the first function, and the first function is used to indicate a functional relationship between the coordinates of a pixel point on the environment image and the height of the ceiling;

[0112] In some embodiments, in S2423, based on preset camera parameters, coordinates of the first endpoint corresponding to the second endpoint and a preset coordinate conversion formula, determining a first function corresponding to the second endpoint includes S101-S104:

[0113] S101. Determine a reference coordinate corresponding to the second endpoint based on the coordinate of the first endpoint corresponding to the second endpoint, where the horizontal coordinate in the reference coordinate is the same as the horizontal coordinate of the first endpoint, the vertical coordinate in the reference coordinate is the same as the vertical coordinate of the first endpoint, the vertical coordinate in the reference coordinate is an unknown parameter, and the vertical coordinate in the reference coordinate is used to represent the height of the ceiling;

[0114] In some embodiments, the reference coordinates can be expressed as: 0, y 0, h) where x 0 and 0 It is known that the horizontal and vertical coordinates of the first endpoint are equal respectively, and h can be any positive number.

[0115] S102, determining a second difference between the reference coordinate and the translation parameter;

[0116] In some embodiments, the second difference between the reference coordinates and the translation parameter can be expressed as: (x0, y0, h)-T.

[0117] S103, determining a second product of the second difference and the rotation parameter;

[0118] In some embodiments, the second product of the second difference and the rotation parameter can be expressed as: R[(x0, y0, h)-T],

[0119] S104: Input the second product into the preset coordinate conversion formula, make the output result equal to the pixel point coordinates of the second endpoint, and obtain the first function corresponding to the second endpoint.

[0120] In some embodiments, the second product is input into the preset coordinate conversion formula, and the output result can be obtained as: π{R[(x0, y0, h)-T]}. Then, the output result is made equal to the pixel point coordinates of the second endpoint, and the first function corresponding to the projection point of the second endpoint is px(h)=π{R[(x0, y0, h)-T]}, where px(h) represents the pixel point coordinates of the second endpoint.

[0121] S2424, according to the two first functions and the target edge segment, determining the distance between each second endpoint and the target edge segment as the second function corresponding to the to-be-processed intersection line where the second endpoint is located, and obtaining multiple second functions corresponding to the multiple to-be-processed intersection lines corresponding to the multiple wall surfaces;

[0122] In some embodiments, the equation corresponding to the straight line where the target edge segment is located can be expressed as px+qy+r=0, where p and q are coefficients of x and y respectively, both p and q are not 0, and r is a constant. Then, for each of the two second endpoints, the distance between the second endpoint and the target edge segment can be expressed as: That is, the second function corresponding to the intersection line to be processed where the second endpoint is located is: and Among them, px 1 (h) and px 2 (h) are the coordinates of two pixel points corresponding to the two second endpoints.

[0123] In some embodiments, the plurality of second functions may be expressed as: Where i represents the serial number of the target edge segment, and k represents the serial number of the wall. A wall can correspond to one or more environment images, so a wall can correspond to one or more target edge segments.

[0124] S2425. Determine a target height of the ceiling in the environment based on the multiple second functions.

[0125] In some embodiments, in S2425, determining a target height of a ceiling in the environment based on the plurality of second functions includes:

[0126] Determine the value of the ceiling height when the sum of squares of the plurality of second functions is minimum;

[0127] The value of the ceiling height is used as the target height of the ceiling.

[0128] In some embodiments, the sum of squares of the plurality of second functions may be expressed as: When the value of E(h) is minimized, the value of the ceiling height h is taken as the target height of the ceiling.

[0129] In some embodiments, after obtaining the target height of the ceiling, the method further includes:

[0130] Based on the target height, determining a plurality of target endpoints of target intersection lines between the ceiling and the plurality of walls;

[0131] Based on the multiple target endpoints and the preset connection relationship, a constrained straight line Delaunay triangulation is constructed to generate a target ceiling model.

[0132] Figure 4A flow chart of a data processing method provided for an exemplary embodiment of the present disclosure, as shown in the figure, multiple wall information, reference height information and multiple environmental images are input information, multiple ceiling intersection line information can be determined based on the multiple wall information and the reference height information, and multiple intersection lines to be processed can be obtained in combination with the multiple environmental image information, and then the target height of the ceiling is determined to obtain the actual intersection line between the ceiling and the wall, and finally the target ceiling model can be output, which can be applied to the ceiling calibration of houses with irregular concave polygonal units, effectively improving the diversity of application scenarios of the ceiling model.

[0133] The present disclosure provides a method for obtaining multiple wall information corresponding to multiple walls in the current environment and reference height information of the ceiling input by the user, as well as multiple environmental images corresponding to the multiple walls; based on the multiple wall information and the reference height information, determining the ceiling intersection line information corresponding to each of the multiple walls, and obtaining multiple ceiling intersection line information corresponding to the multiple walls; for each wall, determining the unprocessed intersection line corresponding to the wall after the ceiling intersection line information corresponding to the wall is projected into the environmental image corresponding to the wall; determining a target height of the ceiling in the environment according to the multiple unprocessed intersection lines corresponding to the multiple walls and the multiple environmental images, the ceiling intersection lines corresponding to the walls can be projected into the environmental image to obtain the unprocessed intersection lines, and then processed based on the unprocessed intersection lines in the environmental image to reduce errors and obtain a ceiling height with higher precision, thereby effectively improving the accuracy of the ceiling position.

[0134] Figure 4 A schematic diagram of the structure of a data processing device provided by an exemplary embodiment of the present disclosure;

[0135] The device comprises:

[0136] An acquisition unit 41 is used to acquire a plurality of wall information corresponding to a plurality of wall surfaces in a current environment and a reference height information of a ceiling input by a user, as well as a plurality of environment images corresponding to the plurality of wall surfaces;

[0137] A determination unit 42, configured to determine ceiling intersection line information corresponding to each of the plurality of wall surfaces based on the plurality of wall surface information and the reference height information, and obtain a plurality of ceiling intersection line information corresponding to the plurality of wall surfaces;

[0138] The determining unit 42 is further used to determine, for each wall, a to-be-processed intersection line corresponding to the wall obtained after the ceiling intersection line information corresponding to the wall is projected into the environment image corresponding to the wall;

[0139] The determining unit 42 is further configured to determine a target height of the ceiling in the environment according to the plurality of to-be-processed intersection lines corresponding to the plurality of walls and the plurality of environment images.

[0140] In some optional embodiments provided by the present disclosure, the determination unit 42 is used to determine the to-be-processed intersection line corresponding to the wall after the ceiling intersection line information corresponding to the wall is projected into the environment image corresponding to the wall, and is specifically used to:

[0141] Obtaining preset camera parameter information and the coordinates of two first endpoints of the intersection line of the ceiling corresponding to the wall, wherein the preset camera parameters include rotation parameters, translation parameters and a preset coordinate conversion formula;

[0142] For the coordinates of each of the two first endpoints, determining a first difference between the coordinates of the first endpoint and the translation parameter;

[0143] determining a first product of the first difference and the rotation parameter;

[0144] Inputting the first product into the preset coordinate conversion formula, determining the second endpoint corresponding to the first endpoint in the environment image corresponding to the wall, and obtaining the two second endpoints corresponding to the two first endpoints in the environment image corresponding to the wall;

[0145] The two second endpoints are connected to obtain the ceiling intersection line information corresponding to the wall, and then the information is projected into the environment image corresponding to the wall to obtain the to-be-processed intersection line corresponding to the wall.

[0146] In some optional embodiments provided by the present disclosure, when the determination unit 42 is used to determine the target height of the ceiling in the environment according to the multiple to-be-processed intersection lines corresponding to the multiple walls and the multiple environment images, it is specifically used to:

[0147] For each of the multiple wall surfaces, identifying a group of edge line segments corresponding to the to-be-processed intersection line corresponding to the wall surface in the environment image corresponding to the wall surface, and obtaining multiple groups of edge line segments corresponding to the multiple wall surfaces;

[0148] A target height of a ceiling in the environment is determined based on a plurality of to-be-processed intersection lines corresponding to the plurality of wall surfaces and the plurality of groups of edge line segments.

[0149] In some optional embodiments provided by the present disclosure, when the determination unit 42 is used to identify a group of edge line segments corresponding to the to-be-processed intersection line corresponding to the wall in the environment image corresponding to the wall, it is specifically used to:

[0150] Obtaining a first preset length;

[0151] Determine, according to the first preset length and the intersection line to be processed, a target image area corresponding to the intersection line to be processed in the environment image corresponding to the wall surface;

[0152] The target image region is subjected to edge detection based on a preset algorithm to obtain a group of edge line segments corresponding to the intersection line to be processed.

[0153] In some optional embodiments provided by the present disclosure, when the determining unit 42 is used to determine the target height of the ceiling in the environment based on the multiple to-be-processed intersection lines corresponding to the multiple walls and the multiple groups of edge line segments, it is specifically used to:

[0154] For each wall surface among the plurality of wall surfaces, obtaining line segment information of a plurality of edge line segments corresponding to the to-be-processed intersection line corresponding to the wall surface;

[0155] Based on the line segment information, selecting a target edge line segment that meets a preset condition from the plurality of edge line segments;

[0156] For each of the two second endpoints, based on preset camera parameters, the coordinates of the first endpoint corresponding to the second endpoint and a preset coordinate conversion formula, determine a first function corresponding to the second endpoint, and obtain two first functions corresponding to the two second endpoints, the height of the ceiling being an unknown parameter of the first function, and the first function being used to indicate a functional relationship between the coordinates of a pixel point on the environment image and the height of the ceiling;

[0157] According to the two first functions and the target edge segment, the distance between each second endpoint and the target edge segment is determined as the second function corresponding to the to-be-processed intersection line where the second endpoint is located, and a plurality of second functions corresponding to the plurality of to-be-processed intersection lines corresponding to the plurality of wall surfaces are obtained;

[0158] A target height of a ceiling in the environment is determined based on the plurality of second functions.

[0159] In some optional embodiments provided by the present disclosure, when the determining unit 42 is used to determine the target height of the ceiling in the environment based on the multiple second functions, it is specifically used to:

[0160] Determine the value of the ceiling height when the sum of squares of the plurality of second functions is minimized;

[0161] The value of the ceiling height is used as the target height of the ceiling.

[0162] In some optional embodiments provided by the present disclosure, when the determining unit 42 is used to select a target edge segment that meets a preset condition from the plurality of edge segments, it is specifically used to:

[0163] Acquire the angle between each edge line segment of the plurality of edge line segments and the intersection line to be processed, and obtain a plurality of angles between the plurality of edge line segments and the intersection line to be processed;

[0164] Determine, among the edge line segments, the edge line segments whose included angle with the to-be-processed intersection line is smaller than a preset angle as candidate edge line segments;

[0165] Among the candidate edge segments, the candidate edge segment with the longest length and the length greater than the first preset length is determined as the target edge segment that meets the preset condition.

[0166] It should be understood that the device embodiment and the method embodiment may correspond to each other, and similar descriptions may refer to the method embodiment. To avoid repetition, no further description is given here. Specifically, the device may perform the above method embodiment, and the above and other operations and / or functions of each module in the device are the corresponding processes in each method in the above method embodiment, respectively, and no further description is given here for the sake of brevity.

[0167] The above describes the device of the embodiment of the present disclosure from the perspective of the functional module in conjunction with the accompanying drawings. It should be understood that the functional module can be implemented in hardware form, can be implemented by instructions in software form, and can also be implemented by a combination of hardware and software modules. Specifically, the steps of the method embodiment in the embodiment of the present disclosure can be completed by the hardware integrated logic circuit and / or software form instructions in the processor, and the steps of the method disclosed in conjunction with the embodiment of the present disclosure can be directly embodied as a hardware decoding processor to execute, or a combination of hardware and software modules in the decoding processor to execute. Optionally, the software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps in the above method embodiment in conjunction with its hardware.

[0168] Figure 5 is a schematic block diagram of an electronic device provided by an embodiment of the present disclosure, and the electronic device may include:

[0169] The memory 701 and the processor 702, the memory 701 is used to store the computer program and transmit the program code to the processor 702. In other words, the processor 702 can call and run the computer program from the memory 701 to implement the method in the embodiment of the present disclosure.

[0170] For example, the processor 702 may be configured to execute the above method embodiments according to instructions in the computer program.

[0171] In some embodiments of the present disclosure, the processor 702 may include but is not limited to:

[0172] General-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc.

[0173] In some embodiments of the present disclosure, the memory 701 includes but is not limited to:

[0174] Volatile memory and / or non-volatile memory. Among them, the non-volatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM) or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus random access memory (DR RAM).

[0175] In some embodiments of the present disclosure, the computer program may be divided into one or more modules, which are stored in the memory 701 and executed by the processor 702 to complete the method provided by the present disclosure. The one or more modules may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program in the electronic device.

[0176] like Figure 5 As shown, the electronic device may also include:

[0177] The transceiver 703 may be connected to the processor 702 or the memory 701 .

[0178] The processor 702 may control the transceiver 703 to communicate with other devices, specifically, to send information or data to other devices, or to receive information or data sent by other devices. The transceiver 703 may include a transmitter and a receiver. The transceiver 703 may further include an antenna, and the number of antennas may be one or more.

[0179] It should be understood that the various components in the electronic device are connected via a bus system, wherein the bus system includes not only a data bus but also a power bus, a control bus and a status signal bus.

[0180] The present disclosure also provides a computer storage medium on which a computer program is stored, and when the computer program is executed by a computer, the computer can perform the method of the above method embodiment. In other words, the present disclosure embodiment also provides a computer program product containing instructions, and when the instructions are executed by a computer, the computer can perform the method of the above method embodiment.

[0181] When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integration. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a digital video disc (digital video disc, DVD)), or a semiconductor medium (e.g., a solid state disk (solid state disk, SSD)), etc.

[0182] According to one or more embodiments of the present disclosure, a data processing method is provided, including:

[0183] Acquire multiple wall information corresponding to multiple walls in the current environment and reference height information of the ceiling input by the user, as well as multiple environment images corresponding to the multiple walls;

[0184] Based on the multiple wall surface information and the reference height information, determine the ceiling intersection line information corresponding to each of the multiple wall surfaces, and obtain multiple ceiling intersection line information corresponding to the multiple wall surfaces;

[0185] For each wall, determine the to-be-processed intersection line corresponding to the wall obtained after the ceiling intersection line information corresponding to the wall is projected into the environment image corresponding to the wall;

[0186] A target height of a ceiling in the environment is determined according to a plurality of to-be-processed intersection lines corresponding to the plurality of walls and the plurality of environment images.

[0187] According to one or more embodiments of the present disclosure, after determining that the ceiling intersection line information corresponding to the wall is projected into the environment image corresponding to the wall, the obtained intersection line to be processed corresponding to the wall includes:

[0188] Obtaining preset camera parameter information and the coordinates of two first endpoints of the intersection line of the ceiling corresponding to the wall, wherein the preset camera parameters include rotation parameters, translation parameters and a preset coordinate conversion formula;

[0189] For the coordinates of each of the two first endpoints, determining a first difference between the coordinates of the first endpoint and the translation parameter;

[0190] determining a first product of the first difference and the rotation parameter;

[0191] Inputting the first product into the preset coordinate conversion formula, determining the second endpoint corresponding to the first endpoint in the environment image corresponding to the wall, and obtaining the two second endpoints corresponding to the two first endpoints in the environment image corresponding to the wall;

[0192] The two second endpoints are connected to obtain the ceiling intersection line information corresponding to the wall, and then the information is projected into the environment image corresponding to the wall to obtain the to-be-processed intersection line corresponding to the wall.

[0193] According to one or more embodiments of the present disclosure, determining a target height of a ceiling in the environment according to a plurality of to-be-processed intersection lines corresponding to the plurality of walls and the plurality of environment images includes:

[0194] For each of the multiple wall surfaces, identifying a group of edge line segments corresponding to the to-be-processed intersection line corresponding to the wall surface in the environment image corresponding to the wall surface, and obtaining multiple groups of edge line segments corresponding to the multiple wall surfaces;

[0195] A target height of a ceiling in the environment is determined based on a plurality of to-be-processed intersection lines corresponding to the plurality of wall surfaces and the plurality of groups of edge line segments.

[0196] According to one or more embodiments of the present disclosure, identifying a group of edge line segments corresponding to the to-be-processed intersection line corresponding to the wall in the environment image corresponding to the wall includes:

[0197] Obtaining a first preset length;

[0198] Determine, according to the first preset length and the intersection line to be processed, a target image area corresponding to the intersection line to be processed in the environment image corresponding to the wall surface;

[0199] The target image region is subjected to edge detection based on a preset algorithm to obtain a group of edge line segments corresponding to the intersection line to be processed.

[0200] According to one or more embodiments of the present disclosure, determining a target height of a ceiling in the environment based on a plurality of to-be-processed intersection lines corresponding to the plurality of wall surfaces and the plurality of groups of edge line segments includes:

[0201] For each wall surface among the plurality of wall surfaces, obtaining line segment information of a plurality of edge line segments corresponding to the to-be-processed intersection line corresponding to the wall surface;

[0202] Based on the line segment information, selecting a target edge line segment that meets a preset condition from the plurality of edge line segments;

[0203] For each of the two second endpoints, based on preset camera parameters, the coordinates of the first endpoint corresponding to the second endpoint and a preset coordinate conversion formula, determine a first function corresponding to the second endpoint, and obtain two first functions corresponding to the two second endpoints, the height of the ceiling being an unknown parameter of the first function, and the first function being used to indicate a functional relationship between the coordinates of a pixel point on the environment image and the height of the ceiling;

[0204] According to the two first functions and the target edge segment, the distance between each second endpoint and the target edge segment is determined as the second function corresponding to the to-be-processed intersection line where the second endpoint is located, and a plurality of second functions corresponding to the plurality of to-be-processed intersection lines corresponding to the plurality of wall surfaces are obtained;

[0205] A target height of a ceiling in the environment is determined based on the plurality of second functions.

[0206] According to one or more embodiments of the present disclosure, determining a target height of a ceiling in the environment based on the plurality of second functions includes:

[0207] Determine the value of the ceiling height when the sum of squares of the plurality of second functions is minimized;

[0208] The value of the ceiling height is used as the target height of the ceiling.

[0209] According to one or more embodiments of the present disclosure, selecting a target edge segment that meets a preset condition from the plurality of edge segments includes:

[0210] Acquire the angle between each edge line segment of the plurality of edge line segments and the intersection line to be processed, and obtain a plurality of angles between the plurality of edge line segments and the intersection line to be processed;

[0211] Determine, among the edge line segments, the edge line segments whose included angle with the to-be-processed intersection line is smaller than a preset angle as candidate edge line segments;

[0212] Among the candidate edge segments, the candidate edge segment with the longest length and the length greater than the first preset length is determined as the target edge segment that meets the preset condition.

[0213] According to one or more embodiments of the present disclosure, there is provided a data processing device, including:

[0214] An acquisition unit, used to acquire a plurality of wall information corresponding to a plurality of wall surfaces in a current environment and a reference height information of a ceiling input by a user, as well as a plurality of environment images corresponding to the plurality of wall surfaces;

[0215] a determining unit, configured to determine ceiling intersection line information corresponding to each of the plurality of wall surfaces based on the plurality of wall surface information and the reference height information, and obtain a plurality of ceiling intersection line information corresponding to the plurality of wall surfaces;

[0216] The determination unit is further used to determine, for each wall, a to-be-processed intersection line corresponding to the wall obtained after the ceiling intersection line information corresponding to the wall is projected into the environment image corresponding to the wall;

[0217] The determining unit is further configured to determine a target height of a ceiling in the environment according to a plurality of to-be-processed intersection lines corresponding to the plurality of walls and the plurality of environment images.

[0218] According to one or more embodiments of the present disclosure, when the determination unit is used to determine the to-be-processed intersection line corresponding to the wall after the ceiling intersection line information corresponding to the wall is projected into the environment image corresponding to the wall, it is specifically used to:

[0219] Obtaining preset camera parameter information and the coordinates of two first endpoints of the intersection line of the ceiling corresponding to the wall, wherein the preset camera parameters include rotation parameters, translation parameters and a preset coordinate conversion formula;

[0220] For the coordinates of each of the two first endpoints, determining a first difference between the coordinates of the first endpoint and the translation parameter;

[0221] determining a first product of the first difference and the rotation parameter;

[0222] Inputting the first product into the preset coordinate conversion formula, determining the second endpoint corresponding to the first endpoint in the environment image corresponding to the wall, and obtaining the two second endpoints corresponding to the two first endpoints in the environment image corresponding to the wall;

[0223] The two second endpoints are connected to obtain the ceiling intersection line information corresponding to the wall, and then the information is projected into the environment image corresponding to the wall to obtain the to-be-processed intersection line corresponding to the wall.

[0224] According to one or more embodiments of the present disclosure, when the determination unit is used to determine the target height of the ceiling in the environment according to the multiple to-be-processed intersection lines corresponding to the multiple walls and the multiple environment images, it is specifically used to:

[0225] For each of the multiple wall surfaces, identifying a group of edge line segments corresponding to the to-be-processed intersection line corresponding to the wall surface in the environment image corresponding to the wall surface, and obtaining multiple groups of edge line segments corresponding to the multiple wall surfaces;

[0226] A target height of a ceiling in the environment is determined based on a plurality of to-be-processed intersection lines corresponding to the plurality of wall surfaces and the plurality of groups of edge line segments.

[0227] According to one or more embodiments of the present disclosure, when the determination unit is used to identify a group of edge line segments corresponding to the to-be-processed intersection line corresponding to the wall in the environment image corresponding to the wall, it is specifically used to:

[0228] Obtaining a first preset length;

[0229] Determine, according to the first preset length and the intersection line to be processed, a target image area corresponding to the intersection line to be processed in the environment image corresponding to the wall surface;

[0230] The target image region is subjected to edge detection based on a preset algorithm to obtain a group of edge line segments corresponding to the intersection line to be processed.

[0231] According to one or more embodiments of the present disclosure, when the determination unit is used to determine the target height of the ceiling in the environment based on the multiple to-be-processed intersection lines corresponding to the multiple wall surfaces and the multiple groups of edge line segments, it is specifically used to:

[0232] For each wall surface among the plurality of wall surfaces, obtaining line segment information of a plurality of edge line segments corresponding to the to-be-processed intersection line corresponding to the wall surface;

[0233] Based on the line segment information, selecting a target edge line segment that meets a preset condition from the plurality of edge line segments;

[0234] For each of the two second endpoints, based on preset camera parameters, the coordinates of the first endpoint corresponding to the second endpoint and a preset coordinate conversion formula, determine a first function corresponding to the second endpoint, and obtain two first functions corresponding to the two second endpoints, the height of the ceiling being an unknown parameter of the first function, and the first function being used to indicate a functional relationship between the coordinates of a pixel point on the environment image and the height of the ceiling;

[0235] According to the two first functions and the target edge segment, the distance between each second endpoint and the target edge segment is determined as the second function corresponding to the to-be-processed intersection line where the second endpoint is located, and a plurality of second functions corresponding to the plurality of to-be-processed intersection lines corresponding to the plurality of wall surfaces are obtained;

[0236] A target height of a ceiling in the environment is determined based on the plurality of second functions.

[0237] According to one or more embodiments of the present disclosure, when the determination unit is used to determine the target height of the ceiling in the environment based on the multiple second functions, it is specifically used to:

[0238] Determine the value of the ceiling height when the sum of squares of the plurality of second functions is minimized;

[0239] The value of the ceiling height is used as the target height of the ceiling.

[0240] According to one or more embodiments of the present disclosure, when the determining unit is used to screen out a target edge segment that meets a preset condition from the plurality of edge segments, it is specifically used to:

[0241] Acquire the angle between each edge line segment of the plurality of edge line segments and the intersection line to be processed, and obtain a plurality of angles between the plurality of edge line segments and the intersection line to be processed;

[0242] Determine, among the edge line segments, the edge line segments whose included angle with the to-be-processed intersection line is smaller than a preset angle as candidate edge line segments;

[0243] Among the candidate edge segments, the candidate edge segment with the longest length and the length greater than the first preset length is determined as the target edge segment that meets the preset condition.

[0244] According to one or more embodiments of the present disclosure, there is provided an electronic device, including:

[0245] Processor; and

[0246] A memory, configured to store executable instructions of the processor;

[0247] The processor is configured to perform the above data processing method by executing the executable instructions.

[0248] According to one or more embodiments of the present disclosure, there is provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the above-mentioned data processing method when executed by a processor.

[0249] Those of ordinary skill in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

[0250] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the module is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0251] The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. For example, each functional module in each embodiment of the present disclosure may be integrated into a processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0252] The above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A data processing method, characterized in that: include: Acquire multiple wall information corresponding to multiple walls in the current environment and reference height information of the ceiling input by the user, as well as multiple environment images corresponding to the multiple walls; Based on the multiple wall surface information and the reference height information, determine the ceiling intersection line information corresponding to each of the multiple wall surfaces, and obtain the multiple ceiling intersection line information corresponding to the multiple wall surfaces; For each wall, determine the to-be-processed intersection line corresponding to the wall obtained after the ceiling intersection line information corresponding to the wall is projected into the environment image corresponding to the wall; A target height of a ceiling in the environment is determined according to a plurality of to-be-processed intersection lines corresponding to the plurality of walls and the plurality of environment images.

2. The method according to claim 1, characterized in that After determining that the ceiling intersection line information corresponding to the wall is projected into the environment image corresponding to the wall, the obtained intersection line to be processed corresponding to the wall includes: Obtaining preset camera parameter information and the coordinates of two first endpoints of the intersection line of the ceiling corresponding to the wall, wherein the preset camera parameters include rotation parameters, translation parameters and a preset coordinate conversion formula; For the coordinates of each of the two first endpoints, determining a first difference between the coordinates of the first endpoint and the translation parameter; determining a first product of the first difference and the rotation parameter; Inputting the first product into the preset coordinate conversion formula, determining the second endpoint corresponding to the first endpoint in the environment image corresponding to the wall, and obtaining the two second endpoints corresponding to the two first endpoints in the environment image corresponding to the wall; The two second endpoints are connected to obtain the ceiling intersection line information corresponding to the wall, and then the information is projected into the environment image corresponding to the wall to obtain the to-be-processed intersection line corresponding to the wall.

3. The method according to claim 2, characterized in that Determining a target height of a ceiling in the environment according to a plurality of to-be-processed intersection lines corresponding to the plurality of walls and the plurality of environment images includes: For each of the multiple wall surfaces, identifying a group of edge line segments corresponding to the to-be-processed intersection line corresponding to the wall surface in the environment image corresponding to the wall surface, and obtaining multiple groups of edge line segments corresponding to the multiple wall surfaces; A target height of a ceiling in the environment is determined based on a plurality of to-be-processed intersection lines corresponding to the plurality of wall surfaces and the plurality of groups of edge line segments.

4. The method according to claim 3, characterized in that Identifying a group of edge line segments corresponding to the to-be-processed intersection line corresponding to the wall in the environment image corresponding to the wall, including: Obtaining a first preset length; Determine, according to the first preset length and the intersection line to be processed, a target image area corresponding to the intersection line to be processed in the environment image corresponding to the wall surface; The target image region is subjected to edge detection based on a preset algorithm to obtain a group of edge line segments corresponding to the intersection line to be processed.

5. The method according to claim 3, characterized in that: Determining a target height of a ceiling in the environment based on a plurality of to-be-processed intersection lines corresponding to the plurality of wall surfaces and the plurality of groups of edge line segments includes: For each wall surface among the plurality of wall surfaces, obtaining line segment information of a plurality of edge line segments corresponding to the to-be-processed intersection line corresponding to the wall surface; Based on the line segment information, selecting a target edge line segment that meets a preset condition from the plurality of edge line segments; For each of the two second endpoints, based on preset camera parameters, the coordinates of the first endpoint corresponding to the second endpoint and a preset coordinate conversion formula, determine a first function corresponding to the second endpoint, and obtain two first functions corresponding to the two second endpoints, the height of the ceiling being an unknown parameter of the first function, and the first function being used to indicate a functional relationship between the coordinates of a pixel point on the environment image and the height of the ceiling; According to the two first functions and the target edge segment, the distance between each second endpoint and the target edge segment is determined as the second function corresponding to the to-be-processed intersection line where the second endpoint is located, and a plurality of second functions corresponding to the plurality of to-be-processed intersection lines corresponding to the plurality of wall surfaces are obtained; A target height of a ceiling in the environment is determined based on the plurality of second functions.

6. The method according to claim 5, characterized in that Determining a target height of a ceiling in the environment based on the plurality of second functions comprises: Determine the value of the ceiling height when the sum of squares of the plurality of second functions is minimized; The value of the ceiling height is used as the target height of the ceiling.

7. The method according to claim 5, characterized in that Filtering out a target edge segment that meets a preset condition from the plurality of edge segments includes: Acquire the angle between each edge line segment of the plurality of edge line segments and the intersection line to be processed, and obtain a plurality of angles between the plurality of edge line segments and the intersection line to be processed; Determine, among the edge line segments, the edge line segments whose included angle with the to-be-processed intersection line is smaller than a preset angle as candidate edge line segments; Among the candidate edge segments, the candidate edge segment with the longest length and the length greater than the first preset length is determined as the target edge segment that meets the preset condition.

8. A data processing device, characterized in that: include: An acquisition unit, used to acquire a plurality of wall information corresponding to a plurality of wall surfaces in a current environment and a reference height information of a ceiling input by a user, as well as a plurality of environment images corresponding to the plurality of wall surfaces; a determining unit, configured to determine ceiling intersection line information corresponding to each of the plurality of wall surfaces based on the plurality of wall surface information and the reference height information, and obtain a plurality of ceiling intersection line information corresponding to the plurality of wall surfaces; The determination unit is further used to determine, for each wall, a to-be-processed intersection line corresponding to the wall obtained after the ceiling intersection line information corresponding to the wall is projected into the environment image corresponding to the wall; The determining unit is further configured to determine a target height of a ceiling in the environment according to a plurality of to-be-processed intersection lines corresponding to the plurality of walls and the plurality of environment images.

9. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to perform the method of any one of claims 1 to 7 by executing the executable instructions.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images