Three-dimensional model attitude adjustment method and device, electronic equipment and storage medium

Abstract

The invention discloses a posture adjustment method and device for a three-dimensional model, electronic equipment and a storage medium, and the method comprises the steps: responding to a posture adjustment operation of target display equipment, and obtaining inertial measurement data corresponding to the target display equipment; and determining an equipment rotation matrix corresponding to the target display equipment based on the inertial measurement data, and adjusting the attitude of the three-dimensional model according to the rotation matrix. Based on the technical scheme, the inertial measurement data of the target display equipment is obtained when the attitude of the target display equipment is adjusted, the determined equipment rotation matrix is determined according to the inertial measurement data, and the attitude of the three-dimensional model is adjusted according to the equipment rotation matrix, so that automatic adjustment and attitude adjustment of the three-dimensional model are realized; and the use experience of the user is improved.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a posture adjustment method, device, electronic equipment and storage medium for a three-dimensional model. Background Art

[0002] With the continuous development of computer technology, real objects can be scanned using scanning equipment to create corresponding three-dimensional models, and the scanned three-dimensional models can be displayed through electronic devices.

[0003] However, the existing method for displaying three-dimensional models is to display the three-dimensional model in a pre-set form. When the electronic device is deflected or the user changes the posture of the electronic device, the display direction will also be deflected, making the displayed content inconvenient for the user to watch. The user is required to manually adjust the posture of the three-dimensional model, which reduces the user experience. Summary of the invention

[0004] The present invention provides a method, device, electronic device and storage medium for adjusting the posture of a three-dimensional model. The method determines a corresponding device rotation matrix according to inertial measurement data of a display device, and adjusts the posture of the three-dimensional model according to the device rotation matrix, so that the three-dimensional model can be displayed and adjusted following the device posture, thereby improving the user experience.

[0005] According to one aspect of the present invention, a method for adjusting the posture of a three-dimensional model is provided, comprising:

[0006] In response to a posture adjustment operation of a target display device, acquiring inertial measurement data corresponding to the target display device;

[0007] A device rotation matrix corresponding to the target display device is determined based on the inertial measurement data, and a posture of the three-dimensional model is adjusted according to the rotation matrix.

[0008] According to another aspect of the present invention, there is provided a posture adjustment device for a three-dimensional model, comprising:

[0009] A measurement data acquisition module, configured to acquire inertial measurement data corresponding to the target display device in response to a posture adjustment operation of the target display device;

[0010] The posture adjustment module is used to determine a device rotation matrix corresponding to the target display device based on the inertial measurement data, and adjust the posture of the three-dimensional model according to the rotation matrix.

[0011] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0012] Display device and scanning measuring device;

[0013] at least one processor; and

[0014] a memory communicatively connected to the at least one processor; wherein,

[0015] The display device and the scanning and measuring device are of an integrated design, and the memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute the posture adjustment method of the three-dimensional model described in any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the three-dimensional model posture adjustment method described in any embodiment of the present invention when executed.

[0017] The technical solution of the embodiment of the present invention obtains inertial measurement data corresponding to the target display device in response to the posture adjustment operation of the target display device, determines the device rotation matrix corresponding to the target display device based on the inertial measurement data, and adjusts the posture of the three-dimensional model according to the rotation matrix. Based on the above technical solution, by obtaining the inertial measurement data of the device when the posture of the target display device is adjusted, and determining the device rotation matrix determined according to the inertial measurement data, the posture of the three-dimensional model is adjusted according to the device rotation matrix, thereby realizing automatic straightening and posture adjustment of the three-dimensional model, and improving the user experience.

[0018] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is a flow chart of a method for adjusting the posture of a three-dimensional model provided by an embodiment of the present invention;

[0021] Figure 2 is a schematic diagram of the direction axis of a display device in a stationary state provided by an embodiment of the present invention;

[0022] Figure 3is a schematic diagram of the direction axis of a display device in a rotation state provided by an embodiment of the present invention;

[0023] Figure 4 is a schematic diagram of a display screen before the posture of a three-dimensional model is adjusted according to an embodiment of the present invention;

[0024] Figure 5 is a schematic diagram of a display screen after the posture of a three-dimensional model is adjusted according to an embodiment of the present invention;

[0025] Figure 6 It is a structural block diagram of a posture adjustment device for a three-dimensional model provided by an embodiment of the present invention;

[0026] Figure 7 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings 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 interchanged where appropriate, so that the embodiments of the present invention described herein can 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] Embodiment 1

[0030] Figure 1It is a flowchart of a method for adjusting the posture of a three-dimensional model provided by an embodiment of the present invention. This embodiment can be applied to the case where, when a change in the posture of a display device is detected, the display posture of the three-dimensional model is adjusted according to the inertial measurement data of the display device. The method can be executed by a posture adjustment device for the three-dimensional model. The posture adjustment device for the three-dimensional model can be implemented in the form of hardware and / or software. The posture adjustment device for the three-dimensional model can be configured in an electronic device. The electronic device can be a terminal device provided with an acceleration sensor, such as a mobile phone, a tablet computer, a scanning device, etc. Figure 1 As shown, the method includes:

[0031] S110 . In response to a posture adjustment operation of a target display device, acquire inertial measurement data corresponding to the target display device.

[0032] Among them, the target display device can be an electronic device for displaying a three-dimensional model, such as a smart phone, a tablet computer, or a scanner integrating scanning, computing, processing, and display. It should be noted that an acceleration sensor is provided in the target display device. Furthermore, an inertial measurement unit including an acceleration sensor can also be provided in the target display device, and the inertial measurement unit can also be provided with sensor devices such as a gyroscope, a magnetometer, and an angular velocity sensor. The posture adjustment operation can be an operation of detecting a change in the posture of the display device. Inertial measurement data can be understood as sensor data collected by an inertial measurement unit or an accelerometer provided in the display device.

[0033] Specifically, when it is detected that the display posture of the target display device has changed, the inertial measurement data corresponding to the target display device is collected by an inertial measurement unit or an accelerometer set in the target display device. It should be noted that it is possible to determine whether the posture of the target display device has changed by detecting the inertial measurement data, for example, by matching the current inertial measurement data with the historical inertial measurement data of the previous moment to determine whether the posture of the target display device has changed. It is also possible that the user triggers the posture adjustment control of the target display device. For example, if the current screen is displayed in landscape mode, the user adjusts it to portrait mode by triggering the posture adjustment control, and then responds to the posture adjustment operation of the target display device to obtain the inertial measurement data of the target display device.

[0034] Based on the above technical solution, before responding to the posture adjustment operation of the target display device, it also includes: responding to the display operation for the three-dimensional model, displaying the three-dimensional model in the display screen of the target display device according to the device positive direction of the target display device.

[0035] The three-dimensional model may be understood as a virtual three-dimensional model obtained by scanning an object with a scanning device, or may be a virtual three-dimensional model constructed by modeling software. The display operation may be an operation of a user triggering a display control. The positive direction of the device may be understood as a pre-set device direction corresponding to the display device. The display screen may be a screen displayed on the screen of the display device.

[0036] Specifically, when it is detected that the user has triggered a display control corresponding to the three-dimensional model, in response to the display operation made by the user, the three-dimensional model is displayed in the display screen of the target display device according to the positive direction of the target display device. It should be noted that the positive direction of the display device can be a pre-set direction that matches the device posture, that is, the positive direction of the display device is pre-calibrated according to the posture of the display device. When it is detected that the posture of the display device has changed, the posture of the three-dimensional model can be adjusted according to the pre-calibrated positive direction that matches the current device posture. For example, when the user uses a smart phone to view the three-dimensional model in portrait mode, the positive direction of the display device can be determined according to the front camera of the smart phone, or the direction of gravity can be determined by an inertial measurement unit, and then the positive direction of the display device can be determined according to the direction of gravity. After determining the positive direction of the display device, the three-dimensional model is displayed in the display screen of the target display device according to the positive direction of the display device. For example, the projection matrix can be calculated according to the size and resolution of the screen of the display device, and then the three-dimensional model is displayed in the display screen of the target display device according to the projection matrix. It should be noted that the projection matrix defines the transformation relationship from camera space to screen space.

[0037] S120. Determine a device rotation matrix corresponding to the target display device based on the inertial measurement data, and adjust the posture of the three-dimensional model according to the rotation matrix.

[0038] The device rotation matrix may be a rotation matrix of the ground corresponding to the display device.

[0039] Specifically, after obtaining the inertial measurement data corresponding to the target display device, the rotation matrix of the target display device relative to the ground can be calculated using the inertial measurement data, and the rotation matrix is ​​applied to the three-dimensional model to adjust the display posture of the three-dimensional model so that the posture of the three-dimensional model matches the posture of the target display device.

[0040] On the basis of the above technical solution, the method of determining the rotation matrix corresponding to the target display device based on the inertial measurement data includes: determining the device direction axis corresponding to the target display device, and determining the direction axis offset angle between each device direction axis and the gravity direction according to the inertial measurement data; determining the direction axis rotation matrix corresponding to each device direction axis based on the direction axis offset angle, and determining the device rotation matrix according to the direction axis rotation matrix.

[0041] Among them, the device orientation axis can be understood as the orthogonal axis corresponding to the display device. The device orientation axis usually corresponds to the physical design of the display device. Taking a smartphone as an example, the X axis may point to the width direction of the device, the Y axis points to the height direction, and the Z axis points to the depth direction of the device, that is, the screen normal direction. The gravity direction can be the direction of gravity acceleration. The orientation axis offset angle can be understood as the angle between the orientation axis of the display device and the gravity direction. The orientation axis rotation matrix can be a matrix used to describe the rotation of the target display device around the device orientation axis.

[0042] Specifically, the device direction axis corresponding to the target display device can be determined by determining the device direction axis according to the model of the target display device, and then determining the direction axis offset angle between each device direction axis and the gravity direction according to the inertial measurement data, and then determining the direction axis rotation matrix corresponding to each device direction axis according to the offset angle, and then determining the final device rotation matrix. For example, Figure 2 As shown, the data of the inertial measurement unit is used to determine the direction of gravity. In a stationary or nearly stationary state, the maximum component of the accelerometer reading corresponds to the gravity acceleration, so that the gravity direction vector can be determined. Then, when the posture of the device changes, such as Figure 3 As shown, for each device direction axis (X, Y, Z), the angle between it and the gravity direction vector can be calculated, and the dot product operation can be performed between the gravity component in the inertial measurement unit reading and the unit vector in the device coordinate system, and the direction axis offset angle can be calculated according to the inverse trigonometric function.

[0043] On the basis of the above technical solution, the method of determining the direction axis offset angle between each direction axis of the device and the gravity direction according to the inertial measurement data includes: determining the acceleration component corresponding to each direction axis of the device based on the inertial measurement data; and determining the direction axis offset angle corresponding to each direction axis of the device according to the acceleration component and the gravity acceleration.

[0044] The acceleration component may be acceleration data corresponding to each device direction axis output by an inertial measurement unit.

[0045] Specifically, the acceleration component corresponding to each device direction axis output by the inertial measurement unit in the target display device is obtained, and the direction axis offset angle corresponding to each device direction axis is calculated based on the acceleration component and the gravity acceleration. It should be noted that the reference direction of the direction axis offset angle may be different in different application scenarios. For example, in smart phones, an accelerometer is usually used to determine the direction of gravity, and this is used as a reference to calculate the direction axis offset angle of the device on each device direction axis. In virtual reality devices, it may be necessary to consider both the gravity direction and the earth's magnetic field direction to determine the absolute posture of the device, and then obtain the direction axis offset angle corresponding to each device direction axis.

[0046] On the basis of the above technical solution, the direction axis includes a horizontal axis, a longitudinal axis and a vertical axis, and the direction axis rotation matrix corresponding to each direction axis of the device is determined based on the direction axis offset angle, including: determining the horizontal axis rotation matrix corresponding to the horizontal axis of the device according to the horizontal axis offset angle; determining the longitudinal axis rotation matrix corresponding to the longitudinal axis of the device according to the longitudinal axis offset angle; determining the vertical axis rotation matrix corresponding to the vertical axis of the device according to the vertical axis offset angle.

[0047] Among them, the horizontal axis offset angle can be the angle between the horizontal axis of the target display device and the gravity direction, the longitudinal axis offset angle can be the angle between the longitudinal axis of the target display device and the gravity direction, and the vertical axis offset angle can be the angle between the vertical axis of the target display device and the gravity direction. The horizontal axis rotation matrix can be understood as the matrix of the target display device rotating around the horizontal axis, the longitudinal axis rotation matrix can be understood as the matrix of the target display device rotating around the longitudinal axis, and the vertical axis rotation matrix can be understood as the matrix of the target display device rotating around the vertical axis.

[0048] Specifically, the lateral axis offset angle is recorded as θ x , the longitudinal axis offset angle is recorded as θ y , the vertical axis offset angle is recorded as θ z , and then calculate the rotation matrix corresponding to each direction axis. The horizontal axis rotation matrix is ​​R_x, The longitudinal axis rotation matrix is ​​R_y, The vertical axis rotation matrix is ​​R_z, Then the direction axis rotation matrix corresponding to each direction axis is obtained.

[0049] On the basis of the above technical solution, determining the device rotation matrix according to the direction axis rotation matrix includes: multiplying the direction axis rotation matrices corresponding to the direction axes of the device to determine the device rotation matrix.

[0050] Specifically, when the posture of the device changes, if the posture of the three-dimensional model is not adjusted, such as Figure 4 As shown, when the display posture of the device changes, it can be seen that the display direction of the three-dimensional model displayed in the display device does not match the positive direction of the device, and the user needs to adjust it manually. After the direction axis rotation matrix is ​​obtained according to the technical solution provided in the embodiment of the present invention, the direction axis rotation matrices corresponding to the direction axes of each device are multiplied to determine the rotation matrix R_g of the target display device relative to the ground, R_g=R_z*R_y*R_x, and R_g is applied to the three-dimensional model to rotate the model, thereby making the posture of the model consistent with the posture of the display device. For example, the model point coordinates of the currently displayed three-dimensional model can be obtained, and the model point coordinates that match the rotated device posture can be determined according to the device rotation matrix and the model point coordinates, and then the posture of the currently displayed three-dimensional model can be adjusted according to the model point coordinates that match the rotated device posture, as shown in FIG. Figure 5 As shown, it can be seen that the posture of the adjusted three-dimensional model matches the posture of the display device without manual adjustment by the user.

[0051] The technical solution of the embodiment of the present invention obtains inertial measurement data corresponding to the target display device in response to the posture adjustment operation of the target display device, determines the device rotation matrix corresponding to the target display device based on the inertial measurement data, and adjusts the posture of the three-dimensional model according to the rotation matrix. Based on the above technical solution, by obtaining the inertial measurement data of the device when the posture of the target display device is adjusted, and determining the device rotation matrix determined according to the inertial measurement data, the posture of the three-dimensional model is adjusted according to the device rotation matrix, thereby realizing automatic straightening and posture adjustment of the three-dimensional model, and improving the user experience.

[0052] Embodiment 2

[0053] Figure 6 The following is a structural block diagram of a posture adjustment device for a three-dimensional model provided by an embodiment of the present invention. Figure 6 As shown, the device includes: a measurement data acquisition module 610 and a posture adjustment module 620.

[0054] The measurement data acquisition module 610 is used to acquire inertial measurement data corresponding to the target display device in response to the posture adjustment operation of the target display device;

[0055] The posture adjustment module 620 is used to determine a device rotation matrix corresponding to the target display device based on the inertial measurement data, and adjust the posture of the three-dimensional model according to the rotation matrix.

[0056] On the basis of the above technical solution, the posture adjustment module is used to determine the device direction axis corresponding to the target display device, and determine the direction axis offset angle between each device direction axis and the gravity direction according to the inertial measurement data; determine the direction axis rotation matrix corresponding to each device direction axis based on the direction axis offset angle, and determine the device rotation matrix according to the direction axis rotation matrix.

[0057] Based on the above technical solution, the posture adjustment module is used to determine the acceleration component corresponding to each device direction axis based on the inertial measurement data; and determine the direction axis offset angle corresponding to each device direction axis according to the acceleration component and gravity acceleration.

[0058] On the basis of the above technical solution, the direction axis includes a horizontal axis, a longitudinal axis and a vertical axis, and the posture adjustment module is used to determine the horizontal axis rotation matrix corresponding to the horizontal axis of the device according to the horizontal axis offset angle; determine the longitudinal axis rotation matrix corresponding to the longitudinal axis of the device according to the longitudinal axis offset angle; determine the vertical axis offset matrix corresponding to the vertical axis of the device according to the vertical axis offset angle.

[0059] On the basis of the above technical solution, the posture adjustment module is used to multiply the direction axis rotation matrices corresponding to the direction axes of each device to determine the device rotation matrix.

[0060] Based on the above technical solution, an acceleration sensor is arranged in the target display device.

[0061] Based on the above technical solution, the device also includes: a model display module, which is used to display the three-dimensional model in the display screen of the target display device according to the positive direction of the device of the target display device in response to the display operation of the three-dimensional model before responding to the posture adjustment operation of the target display device.

[0062] The technical solution of the embodiment of the present invention obtains inertial measurement data corresponding to the target display device in response to the posture adjustment operation of the target display device, determines the device rotation matrix corresponding to the target display device based on the inertial measurement data, and adjusts the posture of the three-dimensional model according to the rotation matrix. Based on the above technical solution, by obtaining the inertial measurement data of the device when the posture of the target display device is adjusted, and determining the device rotation matrix determined according to the inertial measurement data, the posture of the three-dimensional model is adjusted according to the device rotation matrix, thereby realizing automatic straightening and posture adjustment of the three-dimensional model, and improving the user experience.

[0063] The three-dimensional model posture adjustment device provided in the embodiment of the present invention can execute the three-dimensional model posture adjustment method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0064] Embodiment 3

[0065] Figure 7 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0066] like Figure 7 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12 and RAM 13 are connected to each other via a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14. It should be noted that the electronic device provided in the embodiment of the present invention is also provided with a display device and a scanning measurement device ( Figure 7 (not shown in the figure), the display device and the scanning measurement device are integrated into one design.

[0067] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0068] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a posture adjustment method of a three-dimensional model.

[0069] In some embodiments, the posture adjustment method of the three-dimensional model can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the posture adjustment method of the three-dimensional model described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the posture adjustment method of the three-dimensional model by any other appropriate means (for example, by means of firmware).

[0070] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0071] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0072] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0073] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0074] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0075] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0076] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0077] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for adjusting the posture of a three-dimensional model, characterized in that: include: In response to a posture adjustment operation of a target display device, acquiring inertial measurement data corresponding to the target display device; A device rotation matrix corresponding to the target display device is determined based on the inertial measurement data, and a posture of the three-dimensional model is adjusted according to the rotation matrix.

2. The method according to claim 1, characterized in that The determining a rotation matrix corresponding to the target display device based on the inertial measurement data comprises: Determine a device direction axis corresponding to the target display device, and determine a direction axis offset angle between each of the device direction axes and a gravity direction according to the inertial measurement data; A direction axis rotation matrix corresponding to each of the device direction axes is determined based on the direction axis offset angle, and a device rotation matrix is ​​determined according to the direction axis rotation matrix.

3. The method according to claim 2, characterized in that The step of determining the direction axis offset angle between each direction axis of the device and the gravity direction according to the inertial measurement data comprises: Determining acceleration components corresponding to each of the device orientation axes based on the inertial measurement data; The direction axis offset angle corresponding to each device direction axis is determined according to the acceleration component and the gravity acceleration.

4. The method according to claim 2, characterized in that: The direction axis includes a transverse axis, a longitudinal axis and a vertical axis, and determining the direction axis rotation matrix corresponding to each of the device direction axes based on the direction axis offset angle includes: Determine a transverse axis rotation matrix corresponding to the transverse axis of the device according to the transverse axis offset angle; Determine a longitudinal axis rotation matrix corresponding to the longitudinal axis of the device according to the longitudinal axis offset angle; Determines the vertical axis rotation matrix relative to the device's vertical axis based on the vertical axis offset angle.

5. The method according to claim 2, characterized in that: The determining of the device rotation matrix according to the direction axis rotation matrix comprises: The direction axis rotation matrices corresponding to the direction axes of the devices are multiplied to determine the device rotation matrix.

6. The method according to claim 1, characterized in that The target display device is provided with an acceleration sensor.

7. The method according to claim 1, characterized in that Before responding to the posture adjustment operation of the target display device, the method further includes: In response to a display operation for the three-dimensional model, the three-dimensional model is displayed in a display screen of the target display device according to the device forward direction of the target display device.

8. A three-dimensional model posture adjustment device, characterized in that: include: A measurement data acquisition module, configured to acquire inertial measurement data corresponding to the target display device in response to a posture adjustment operation of the target display device; The posture adjustment module is used to determine a device rotation matrix corresponding to the target display device based on the inertial measurement data, and adjust the posture of the three-dimensional model according to the rotation matrix.

9. An electronic device, characterized in that: The electronic device comprises: Display device and scanning measuring device; at least one processor; and a memory communicatively connected to the at least one processor; wherein, The display device and the scanning and measuring device are of an integrated design, and the memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute the posture adjustment method of the three-dimensional model described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the posture adjustment method of a three-dimensional model according to any one of claims 1 to 7 when executed.

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