Scene map detection method and device, computer device and storage medium

Abstract

Embodiments of the present application disclose a scene map detection method and device, computer equipment and a computer readable storage medium. The present application generates a heat map corresponding to the scene map based on the complexity information of each scene position in the scene map, determines at least one heat region from the heat map according to the heat value information of the heat map, determines at least one path point from the scene map based on the key points of the heat region, generates a target path in the scene map based on the at least one path point, and detects the scene map according to the target path. In this way, the heat map corresponding to the scene map is generated, and the target path passing through the important region is determined from the scene map according to the heat value information in the heat map. Then, the scene map is detected through the target path, which can improve the detection efficiency of the scene map.

Description

Technical Field

[0001] This application relates to the field of computer technology, specifically to a method, apparatus, computer device, and computer-readable storage medium for detecting scene maps. Background Technology

[0002] Game map assets refer to the maps and related elements presented in the game, and they are crucial to the overall game experience. As an important part of the game, map assets require a relatively strict review process, such as whether the troop deployment on the map is reasonable and whether the vegetation and terrain are set correctly.

[0003] In related technologies, a QA (Quality Assurance) camera can be used to scan the scene map for inspection. However, due to the large area of ​​some game maps, the path for scanning the scene map with a QA camera is long, which still takes a lot of time and is inefficient. Summary of the Invention

[0004] This application provides a method, apparatus, computer device, and computer-readable storage medium for detecting scene maps, which can improve the detection efficiency of scene maps.

[0005] This application provides a method for detecting scene maps, including:

[0006] Obtain the complexity information of each scene location in the scene map;

[0007] A heatmap corresponding to the scene map is generated based on the complexity information;

[0008] Based on the thermal value information of the heat map, at least one thermal region is determined from the heat map;

[0009] Based on the key points of the thermal region, at least one path point is determined from the scene map;

[0010] Based on the at least one path point, a target path is generated in the scene map so that the scene map can be detected according to the target path.

[0011] Accordingly, embodiments of this application also provide a scene map detection device, including:

[0012] The first acquisition unit is used to acquire the complexity information of each scene location in the scene map;

[0013] The first generation unit is used to generate a heat map corresponding to the scene map based on the complexity information.

[0014] The first determining unit is configured to determine at least one thermal region from the thermal map based on the thermal value information of the thermal map;

[0015] The second determining unit is used to determine at least one path point from the scene map based on the key points of the thermal region;

[0016] The second generation unit is configured to generate a target path in the scene map based on the at least one path point, so as to detect the scene map according to the target path.

[0017] Accordingly, this application also provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes any of the scene map detection methods provided in this application.

[0018] Accordingly, embodiments of this application also provide a computer-readable storage medium storing multiple instructions adapted for loading by a processor to execute the scene map detection method described above.

[0019] This application embodiment obtains the complexity information of each scene location in a scene map; generates a heatmap corresponding to the scene map based on the complexity information; determines at least one heat region from the heatmap based on the heat value information; determines at least one path point from the scene map based on the key points of the heat region; and generates a target path in the scene map based on the at least one path point, so as to detect the scene map according to the target path. Therefore, by generating a heatmap corresponding to the scene map, determining a target path passing through an important area from the scene map based on the heat value information in the heatmap, and then detecting the scene map using the target path, the detection efficiency of the scene map can be improved. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a scene diagram illustrating a scene map detection system provided in an embodiment of this application.

[0022] Figure 2 This is a flowchart illustrating a scene map detection method provided in an embodiment of this application.

[0023] Figure 3This is a schematic diagram illustrating an application scenario for scene map detection provided in an embodiment of this application.

[0024] Figure 4 This is a schematic diagram illustrating another application scenario for scene map detection provided in this application embodiment.

[0025] Figure 5 This is a schematic diagram illustrating another application scenario for scene map detection provided in this application embodiment.

[0026] Figure 6 This is a schematic diagram illustrating another application scenario for scene map detection provided in this application embodiment.

[0027] Figure 7 This is a schematic diagram illustrating another application scenario for scene map detection provided in this application embodiment.

[0028] Figure 8 This is a schematic diagram illustrating another application scenario for scene map detection provided in this application embodiment.

[0029] Figure 9 This is a schematic diagram illustrating another application scenario for scene map detection provided in this application embodiment.

[0030] Figure 10 This is a schematic diagram illustrating another application scenario for scene map detection provided in this application embodiment.

[0031] Figure 11 This is a structural block diagram of a scene map detection device provided in an embodiment of this application.

[0032] Figure 12 A schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0034] This application provides a method, apparatus, computer-readable storage medium, and computer device for detecting scene maps. Specifically, the scene map detection method of this application can be executed by a computer device, which can be a terminal or a server. The terminal can be a smartphone, tablet, laptop, touch screen, personal computer (PC), personal digital assistant (PDA), or other terminal device. The server can be an independent physical server, 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 communication, middleware services, domain name services, security services, CDN (Content Distribution Network), and big data and artificial intelligence platforms.

[0035] For example, when the scene map detection method runs on a terminal, the terminal device stores a game application and uses it to render a virtual scene in the game screen. The terminal device is used to interact with the user through a graphical user interface (GUI), such as by downloading, installing, and running the game application. The way the terminal device provides the GUI to the user can be varied; for example, it can be rendered and displayed on the terminal device's screen, or it can present the GUI through holographic projection. For instance, the terminal device can include a touch screen and a processor. The touch screen is used to present the GUI and receive operation commands generated by the user interacting with the GUI, which includes game graphics. The processor is used to run the game, generate the GUI, respond to operation commands, and control the display of the GUI on the touch screen.

[0036] For example, when the scene map detection method runs on a server, it can be considered cloud gaming. Cloud gaming refers to a gaming method based on cloud computing. In cloud gaming, the game application and the game screen presentation are separate. The storage and operation of item usage methods are completed on the cloud gaming server. Game screen presentation is completed on the cloud gaming client, which is mainly used for receiving and sending game data and presenting the game screen. For example, the cloud gaming client can be a display device with data transmission capabilities close to the user, such as a mobile terminal, television, computer, PDA, or personal digital assistant. However, the terminal device for processing game data is the cloud gaming server in the cloud. When playing the game, the user operates the cloud gaming client to send operation commands to the cloud gaming server. The cloud gaming server runs the game according to the operation commands, encodes and compresses game screen data, returns it to the cloud gaming client via the network, and finally, the cloud gaming client decodes and outputs the game screen.

[0037] Please see Figure 1 , Figure 1 This is a scene diagram illustrating a scene map detection system provided in an embodiment of this application. The system may include at least one terminal, at least one server, at least one database, and a network. The user's terminal can connect to different game servers via the network. The terminal is any device with computing hardware capable of supporting and executing software products corresponding to the game. Additionally, the terminal has one or more multi-touch screens for sensing and obtaining input from touch or swipe operations performed by the user at multiple points on one or more touch displays. Furthermore, when the system includes multiple terminals, multiple servers, and multiple networks, different terminals can connect to each other through different networks and different servers. The network can be a wireless network or a wired network, such as a wireless local area network (WLAN), local area network (LAN), cellular network, 2G network, 3G network, 4G network, 5G network, etc. Different terminals can also connect to other terminals or servers using their own Bluetooth networks or hotspot networks. For example, multiple users can connect online through different terminals via appropriate networks and synchronize with each other to support multiplayer games. In addition, the system can include multiple databases coupled to different servers, and can continuously store information related to the game environment in the databases as different users play multiplayer games online.

[0038] This application provides a method for detecting scene maps, which can be executed by a terminal or a server. This application uses the example of a terminal executing the usage of an item. The terminal includes a touchscreen display and a processor. The touchscreen display is used to present a graphical user interface (GUI) and receive operation commands generated by the user interacting with the GUI. When the user operates the GUI through the touchscreen display, the GUI can control local content on the terminal in response to the received operation commands, or it can control content on a peer server in response to the received operation commands. For example, the operation commands generated by the user interacting with the GUI may include commands to launch a game application. The processor is configured to launch the game application after receiving the user's command to launch the game application. Furthermore, the processor is configured to render and draw the GUI associated with the game on the touchscreen display. The touchscreen display is a multi-touch sensitive screen capable of sensing touch or swipe operations performed simultaneously on multiple points on the screen. When the user performs touch operations on the GUI using their finger, the GUI, upon detecting the touch operation, controls different virtual objects in the game's GUI to perform actions corresponding to the touch operation. For example, the game can be any of the following: casual game, action game, role-playing game, strategy game, sports game, puzzle game, etc. The game can include a virtual scene drawn on a graphical user interface. Furthermore, the virtual scene can include one or more virtual objects, such as virtual characters, controlled by the user (or player). Additionally, the virtual scene can include one or more obstacles, such as railings, ditches, walls, etc., to restrict the movement of virtual objects, for example, restricting the movement of one or more objects to a specific area within the virtual scene. Optionally, the virtual scene can also include one or more elements, such as skills, scores, character health status, energy, etc., to provide assistance to the player, offer virtual services, increase scores related to player performance, etc. Furthermore, the graphical user interface can present one or more indicators to provide guidance information to the player. For example, the game can include virtual objects controlled by the player and one or more other virtual objects (such as enemy characters). In one embodiment, one or more other virtual objects are controlled by other players in the game. For example, one or more other virtual objects can be controlled by a computer, such as a robot using artificial intelligence (AI) algorithms, to achieve a human-computer interaction mode. For example, the virtual objects possess various skills or abilities that the player uses to achieve objectives. For example, virtual objects possess one or more weapons, items, tools, etc., that can be used to eliminate other objects in the game. Such skills or abilities can be activated by the player using one of several preset touch operations on the terminal's touchscreen display. The processor can be configured to respond to the operation commands generated by the user's touch operations to display the corresponding game screen.

[0039] It should be noted that, Figure 1 The scene map detection system shown is merely an example. The image processing system and scene described in this application are for the purpose of more clearly illustrating the technical solutions of this application and do not constitute a limitation on the technical solutions provided in this application. As those skilled in the art will know, with the evolution of scene map detection systems and the emergence of new business scenarios, the technical solutions provided in this application are also applicable to similar technical problems.

[0040] To address the aforementioned problems, this application provides a first method, apparatus, computer device, and computer-readable storage medium for detecting scene maps, which can improve the efficiency of scene map detection. These will be described in detail below. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments.

[0041] This application provides a method for detecting scene maps, which can be executed by a terminal or a server. This application uses the example of a scene map detection method executed by a server to illustrate the method.

[0042] Please see Figure 2 , Figure 2 This is a flowchart illustrating a scene map detection method provided in an embodiment of this application. The specific process of this scene map detection method is as follows:

[0043] 101. Obtain the complexity information of each scene location in the scene map.

[0044] A scene map refers to a map that includes a complete virtual scene. A virtual scene can be a digital scene drawn by a computer using digital communication technology. For example, a virtual scene can include a two-dimensional scene or a three-dimensional scene.

[0045] In some embodiments, the scene map can be a scene map corresponding to the target game, and the scene map can include the game scene of the target game.

[0046] For example, please see Figure 3 , Figure 3 This is a schematic diagram illustrating an application scenario of a scene map detection method provided in an embodiment of this application. Figure 3 The map shows the scene map of the target game, which includes multiple scene locations. Each scene location can correspond to different scene objects, such as city walls, mountains, trees, scene NPCs (non-player controlled characters), etc.

[0047] Complexity information refers to the degree of complexity of each scene location in the scene map. The complexity of a scene location can include at least one of the following: layout complexity, quantity complexity, rendering complexity, etc.

[0048] Among them, layout complexity refers to the complexity of the terrain, buildings, roads, etc. corresponding to the scene location; quantity complexity refers to the number of objects at the scene location. The more objects there are, the higher the complexity; rendering complexity refers to the amount of computing resources required to render the scene location. The more computing resources required, the higher the rendering complexity.

[0049] In some embodiments, the complexity of each scene location in the scene map can represent the importance of the scene location in the scene map; the higher the complexity, the higher the importance of the scene location.

[0050] 102. Generate heatmaps corresponding to scene maps based on complexity information.

[0051] Heatmaps are a type of chart used to visualize data. By using different display styles to show the density and distribution of data, they can help users better understand the data. These display styles include, but are not limited to, color, size, shape, dynamic effects, and text annotations.

[0052] In some embodiments, heatmaps can use colors to show the distribution of data. For example, warm and cool colors (such as red and yellow to represent high frequency or high density, and blue and green to represent low frequency or low density) can be used to present data in a two-dimensional space as hotspots of different colors, visually showing the regions and trends in a large dataset.

[0053] In this embodiment of the application, a heat map corresponding to the scene map is generated based on the complexity information of the scene location, so that the complexity of each scene location in the scene map can be intuitively displayed based on the heat map.

[0054] In some embodiments, the complexity information may include the rendering complexity of the scene location. The step "generating a heatmap corresponding to the scene map based on the complexity information" may include the following operations:

[0055] Determine the heat value corresponding to each scene location based on the rendering complexity of each scene location;

[0056] A heat map is generated based on the heat value and the corresponding color information.

[0057] The rendering complexity of a scene location can be determined by the number of scene objects at that location and the number of shaders corresponding to each scene object. For example, the more scene objects there are, the more shaders are required, thus increasing the rendering complexity.

[0058] In a scene map, the number of shaders required for rendering different scene objects may vary. For example, a simple object might only need a basic shader to handle its surface color and texture. This shader might consist of a vertex shader and a fragment shader, used to handle the object's geometry and color rendering, respectively. For complex objects or objects requiring special rendering effects, multiple shaders might be needed. For instance, an object with multiple materials and lighting effects might require a separate shader for each material and lighting effect. Furthermore, if an object needs dynamic effects rendering, such as water ripples or flames, additional shaders might be required to handle these effects.

[0059] In some embodiments, the weight values ​​corresponding to the shaders can be preset, and all types of shaders can be set to the same weight value, such as 1; or different weight values ​​can be set for different shaders, which can be set according to different needs.

[0060] The complexity of a scene location is determined based on the number of scene objects at that location and the number of shaders corresponding to each scene object. This can include summing the weight values ​​of each shader used by each scene object, and the summed weight value can be used as the rendering complexity of that scene location.

[0061] For example, when all shaders have the same weight value, say 1, and scene position 1 includes scene object a and scene object b, where scene object a uses 3 shaders and scene object b uses 2 shaders, then the complexity of scene position 1 can be calculated as: 3 + 2 = 5.

[0062] Among them, determining the heat value corresponding to each scene location based on the rendering complexity of each scene location can include: using the value corresponding to the rendering complexity of the scene location as the heat value corresponding to the scene location.

[0063] In a heatmap, heat values ​​represent the complexity of each scene location. The heat values ​​indicate the activity or intensity of the data, with different colors representing the size or importance of the data.

[0064] In this embodiment, different heat values ​​can be pre-defined to correspond to different colors, thus obtaining a preset relationship table between heat value and color. For example, the higher the heat value, the darker the color, or the higher the heat value, the more obvious the color, etc.

[0065] The process of generating a heatmap based on heat values ​​and their corresponding color information can include: obtaining the color corresponding to each scene location from a preset relationship table between heat values ​​and colors, and then generating a heatmap corresponding to the scene map based on each scene location and its corresponding color. In other words, each location in the heatmap corresponds one-to-one with each scene location in the scene map.

[0066] For example, please see Figure 4 , Figure 4 This is a schematic diagram illustrating an application scenario of another scene map detection method provided in this application embodiment. Figure 4 The top shows a scene map, in which the most complex scene location can be the city gate area; Figure 4 The bottom shows a heatmap generated based on the complexity of each scene location in the scene map. In this heatmap, the more prominent the red, the higher the heat intensity, indicating a higher complexity of the corresponding scene location. Region 1 in this heatmap corresponds to the city gate area in the scene map. It can be seen that Region 1 has the most prominent color in the heatmap, indicating the highest heat intensity. The color prominence of other locations is lower than that of Region 1, meaning their heat intensity is lower. Thus, this heatmap can demonstrate the importance of each scene location on the scene map.

[0067] In some embodiments, since some scene maps cover a wide area and have many scene locations, in order to reduce the workload, the scene map can be pre-divided into multiple scene regions. By calculating the rendering complexity of each scene region, the heat value of each scene region can be determined, and the heat map corresponding to the scene map can be quickly generated.

[0068] 103. Based on the thermal values ​​in the heat map, determine at least one thermal region from the heat map.

[0069] The heat map's heat value information includes the heat values ​​at each location point on the heat map. A heat region refers to the area on the heat map formed by adjacent locations with the same heat value.

[0070] In some embodiments, in order to merge relatively scattered locations with the same thermal value in the heat map into a single region for easier subsequent processing, the step "determine at least one thermal region from the heat map based on the thermal value information" may include the following operations:

[0071] Candidate locations with thermal values ​​greater than a preset threshold are identified from the heat map;

[0072] Based on the thermal values ​​of the candidate locations and the distances between them, the candidate locations are grouped to obtain at least one set of target locations.

[0073] At least one thermal region is determined based on at least one set of target location points.

[0074] In this embodiment of the application, for scene locations with low complexity in the scene map, which are considered unimportant areas in the scene map, these unimportant areas can be ignored in subsequent processing.

[0075] The preset threshold can be used to filter important areas in the corresponding scene map in the heat map.

[0076] Determining candidate locations with heat values ​​greater than a preset threshold from a heat map may include: comparing the heat values ​​of each location in the heat map with the preset threshold, and determining the location corresponding to the heat value greater than the preset threshold as a candidate location.

[0077] Grouping candidate location points based on their thermal values ​​and the distances between them can include: identifying target location points with the same thermal values ​​and a distance less than a first preset distance from the candidate location points.

[0078] In some embodiments, determining target location points with the same thermal value and a distance less than a first preset distance from candidate location points can be achieved by: first, dividing candidate location points with the same thermal value into a location point group; then, selecting candidate location points from each location point group whose distances are less than the first preset distance, as a set of target location points corresponding to each location point group. Subsequently, the areas where a set of target location points are located can be merged into a thermal region.

[0079] Specifically, determining at least one thermal region based on at least one set of target location points can include: generating a corresponding thermal region for each set of target location points. For example, if there is one set of target location points, one thermal region is generated; if there are multiple sets of target location points, multiple thermal regions are generated.

[0080] For example, please see Figure 5 , Figure 5 This is a schematic diagram illustrating an application scenario of another scene map detection method provided in this application embodiment. Figure 5 The top shows the initial heatmap corresponding to the scene map (i.e., the heatmap generated based on the complexity information of the scene location in the scene map). The locations circled in white can be target locations with the same heat value but a distance less than a first preset distance. These target locations need to be merged into a single heatmap region, thus obtaining... Figure 5 The processed heatmap shown below includes multiple thermal regions, which can be: thermal region 1, thermal region 2, thermal region 3, thermal region 4, and thermal region 5, etc.

[0081] In some embodiments, the specific method of determining target location points with the same thermal value and a distance less than a first preset distance from candidate location points and merging the target location points to generate a thermal region may include: selecting one candidate location point as the center from multiple candidate location points, using the map plot length (the map plot length can be the length of a plot in a pre-set scene map) as the radius, searching for whether there are candidate location points with the same thermal value around the candidate location point; if candidate location points with the same thermal value are found, then the region can be filled with the two candidate location points as the center and the distance between the two candidate location points as the diameter to obtain a thermal region.

[0082] 104. Based on the key points of the thermal region, determine at least one waypoint from the scene map.

[0083] Key points are used to indicate the simplified distribution of thermal regions on the heat map, that is, to represent the location of thermal regions on the heat map through key points.

[0084] The key point of the thermal region can be any point within the thermal region. In some embodiments, in order to accurately reflect the positional relationship between the thermal regions through the key points of each thermal region, a central point can be selected from the thermal region as the key point.

[0085] In this embodiment of the application, the waypoints determined from the scene map can be used to construct the movement path of the virtual camera when the scene map is detected.

[0086] The virtual camera refers to the QA camera used for testing scene maps. The QA camera is a crucial tool in scene map testing, primarily used to capture and record images within the virtual scene so that the QA team can conduct detailed inspections and analyses of the game scene. The QA camera allows the QA team to capture images of the game scene from different perspectives and with different parameters, either inside or outside the game engine. These images can be used to analyze the game scene's basic functions, visual effects, performance, and other aspects, thereby ensuring that the game scene's quality meets design requirements.

[0087] In some embodiments, the step "determine at least one waypoint from the scene map based on key points of the thermal region" may include the following operations:

[0088] Identify the key points of each thermal region on the heat map;

[0089] Obtain the location correspondence between the scene map and the heat map, and determine the location of key points in the scene map based on the location correspondence, which will serve as waypoints.

[0090] First, key points can be identified from each heat map region. Then, the positional correspondence between the scene map and the heat map can be obtained. Based on the positional correspondence between the heat map and the scene location, the scene location corresponding to the key points of each heat map region can be determined from the scene map, which can be used as waypoints.

[0091] The location correspondence between the scene map and the heat map can include a one-to-one correspondence between each location in the scene map and each location in the heat map.

[0092] In some embodiments, since some thermal regions have large areas, simply calculating the centerline point of the entire thermal region to determine the path points may miss some scene areas. Therefore, the step "determining the key points of each thermal region in the heat map" may include the following operations:

[0093] From at least one thermal region, a first thermal region with an area exceeding a preset area and a second thermal region with an area not exceeding the preset area are determined;

[0094] Determine the center point of the second thermal region to obtain the key points of the second thermal region;

[0095] The first thermal region is divided into multiple thermal sub-regions based on a preset area. The center point of each thermal sub-region is determined, and the key points of each thermal sub-region are obtained. Based on the key points, the distribution of key points in the first thermal region is obtained.

[0096] The preset area can be used to select the first thermal region with a larger area to be divided from at least one thermal region in the heat map.

[0097] In some embodiments, the preset area can be determined based on the visible range of the QA camera in the virtual scene. The visible range of the QA camera refers to the number of map plots visible to the QA camera in the virtual scene. For example, if the visible range of the QA camera is two map plots, then the preset area can be determined as the sum of the areas of the two map plots.

[0098] In some embodiments, the preset area can also be set in other ways, not limited to the method described above of determining the preset area based on the field of view of the QA camera.

[0099] Specifically, the area of ​​each thermal region in the heat map is obtained, and the area of ​​each region is compared with a preset area. If the area of ​​a region is larger than the preset area, the thermal region can be regarded as the first thermal region with a larger area; if the area of ​​a region is not larger than the preset area, the thermal region can be regarded as the second thermal region with a smaller area.

[0100] For smaller second thermal regions, the center point of the second thermal region can be directly selected as the key point of the second thermal region.

[0101] For the first thermal region, which has a large area, it needs to be divided into multiple thermal sub-regions based on a preset area. Then, the center point of each thermal sub-region is selected as the key point corresponding to each sub-region. Based on the key points of each thermal sub-region, the key point distribution of the corresponding second thermal region is obtained. The area of ​​each thermal sub-region is less than or equal to the preset area.

[0102] For example, please see Figure 6 , Figure 6 This is a schematic diagram illustrating an application scenario of another scene map detection method provided in this application embodiment. Figure 6 The top shows a partial heat map, which includes a first heat region with an area exceeding a preset area. The first heat region is divided into multiple heat sub-regions based on the area, and the center point of each heat sub-region is obtained as the key point corresponding to each heat sub-region. Based on the key points of each heat sub-region, the key point distribution of the corresponding second heat region is obtained.

[0103] Furthermore, the location points corresponding to key points in each first thermal region and the location points corresponding to key points in each second thermal region are determined from the scene map to obtain multiple path points.

[0104] 105. Generate a target path in the scene map based on at least one path point, so that the scene map can be detected according to the target path.

[0105] Generating a target path in the scene map based on at least one path point can include connecting the path points to obtain the target path.

[0106] In some embodiments, to determine the optimal path, the nearest neighbor algorithm can be used to calculate the target path. Specifically, it may include: first selecting a path point from multiple path points as the starting path point, and then starting from the starting path point, finding the nearest point among all unconnected path points, and so on, until all path points are connected to obtain the target path.

[0107] For example, please see Figure 7 , Figure 7This is a schematic diagram illustrating an application scenario of another scene map detection method provided in an embodiment of this application. Figure 7 The process involves multiple path points. Starting with the green path point, the nearest point is found among all unconnected path points. This process continues until all path points are connected, resulting in the target path. This target path can be considered the optimal path.

[0108] In some embodiments, obstacles may exist in the scene map. To avoid obstacles being interspersed during the virtual camera's acquisition of scene images, the method may further include the following steps:

[0109] The first path is obtained by planning the path based on at least one waypoint.

[0110] Obtain the elevation information of each path point's location in the scene map;

[0111] The first path is adjusted based on the altitude information to obtain the target path.

[0112] Among them, height information refers to the height value of each path point in the scene map.

[0113] Here, obstacles refer to objects with height in the scene map that hinder the movement of movable objects. Obstacles can include various types, such as terrain (e.g., mountains) and buildings.

[0114] The first path is obtained by path planning based on at least one path point, which may include: using the nearest neighbor algorithm to calculate each path point and obtaining the path as the first path.

[0115] In some embodiments, obtaining the height information of each path point's location in the scene map may include: obtaining a height map corresponding to the scene map, reading the height value of each path point's location in the scene map from the height map, and obtaining the height information corresponding to the path point.

[0116] A heightmap can be a two-dimensional array, where each element specifies the height value of a location within the scene map. Heightmaps enable computers to easily process and render complex terrain. There are various representations of heightmaps, such as grayscale and color maps. In a grayscale image, the higher the elevation of a point in the terrain, the brighter it appears; conversely, the lower the elevation, the darker it appears. In a color map, different colors are used to distinguish scene locations with different height values.

[0117] For example, please see Figure 8 , Figure 8 This is a schematic diagram of the height map of a virtual scene provided in an embodiment of this application. Figure 8The image shows a height map corresponding to the scene map, in which the height value of each point is represented by color information. For example, the green area in the height map can represent a flat area with a lower elevation; the brown area can represent a mountainous area with a higher elevation, and so on.

[0118] In some embodiments, the step "adjusting the first path based on altitude information to obtain the target path" may include the following operations:

[0119] Based on altitude information, determine at least one set of waypoints from the waypoints of the first path;

[0120] Obtain the relative position information between the first path point and the second path point;

[0121] A new path is determined between the first path point and the second path point based on relative location information;

[0122] The target path is obtained by replacing the initial path between the first path point and the second path point in the first path with the new path.

[0123] The path point set may include adjacent first path points and second path points in the first path, the first path points and the second path points are on flat ground, and there are obstacles between the first path points and the second path points.

[0124] Specifically, based on height information, determining at least one set of path points from the path points of the first path may include: firstly, filtering out path points with a height value of 0 from the path points of the first path, these path points can be regarded as path points on flat ground; then, from these path points, determining two adjacent path points with an obstacle between them, as a set of path points.

[0125] For example, please see Figure 9 , Figure 9 This is a schematic diagram of the height map of a virtual scene provided in an embodiment of this application. Figure 9 The image shows the elevation information of each path point in the first path. Path points A and B are both located on flat ground, and are adjacent path points in the first path. Furthermore, there is a mountain range between path points A and B. Therefore, path points A and B can be considered as a single path point set.

[0126] In this embodiment of the application, if there is an obstacle between two adjacent path points in the first path that are both on flat ground, the path between the two path points needs to be adjusted to avoid the QA camera passing through the obstacle when moving between the two path points.

[0127] Obtaining the relative position information between the first path point and the second path point may include obtaining information such as the relative direction and distance between the two path points to obtain the relative position information.

[0128] In some embodiments, the relative location information may include a first direction from the first waypoint to the second waypoint, then the step "determine a new path between the first waypoint and the second waypoint based on the relative location information" includes:

[0129] Determine the target direction range based on the first direction and the preset angle range;

[0130] Using the first path point as the initial point, ray detection is performed within the target direction range based on the second preset distance to determine the third path point located on flat ground between the first path point and the second path point;

[0131] If there are no obstacles between the third path point and the second path point, a new path is determined based on the line connecting the first path point and the third path point, as well as the line connecting the third path point and the second path point.

[0132] The process of determining the target direction range based on the first direction and the preset angle range may include using the first direction as the edge direction or the middle direction, and using the direction range determined based on the preset angle range as the target direction range.

[0133] For example, please see Figure 10 , Figure 10 This is a schematic diagram of the height map of a virtual scene provided in an embodiment of this application. Figure 10 The text displays path point A and path point B in a path point combination. The direction of path point B relative to path point A can be: the first direction; the preset angle range can be 180 degrees, so the first direction can be used as the middle direction to determine the direction within a 180-degree range, thus obtaining the target direction range.

[0134] The process of using the first path point as the initial point and performing ray detection within the target direction range based on a second preset distance may include: using the first path point as the initial point and performing ray detection with a length of the second preset distance every 60 degrees in a clockwise or counterclockwise direction within the target direction range, to determine whether there is a third path point within the target direction range whose distance from the first path point does not exceed the second preset distance and which has no obstacles between it and the first path point.

[0135] In this process, ray detection involves emitting rays with a length of a second preset distance every 60 degrees in a clockwise or counterclockwise direction within the target direction. If the ray encounters an obstacle, it indicates that there is no third path point; if the ray does not encounter an obstacle, it indicates that there is a third path point.

[0136] In some embodiments, if a third path point is determined to exist by ray detection, it can be further determined whether there is an obstacle between the third path point and the second path point. If there is no obstacle between the third path point and the second path point, the first path point and the third path point can be connected, and the third path point can be connected to obtain a line formed by the first path point, the third path point, and the second path point. This line can be used as a new path between the first path point and the second path point.

[0137] In some embodiments, if there is an obstacle between the third path point and the second path point, a new target direction range can be redefined based on the second direction from the third path point to the second path point and a preset angle range. Then, using the third path point as the initial point, ray detection is performed within the new target direction range based on a second preset distance to determine whether a fourth path point exists within the new target direction range, with the distance between it and the third path point not exceeding the second preset distance and without any obstacles between them. If a fourth path point exists and there is no obstacle between it and the second path point, the first, third, fourth, and second path points can be connected sequentially to obtain a new path. If no fourth path point exists, ray detection can continue in the above manner until a path point without obstacles between it and the second path point is detected by ray detection. All these path points are then connected sequentially to obtain a new path point.

[0138] In some embodiments, if ray detection determines that there is no third path point, there is no need to adjust the path between the first and second path points. The height of the QA camera can be adjusted according to the height of the obstacle between the first and second path points.

[0139] In some embodiments, to avoid the adjusted first path being too long, the method may further include the following steps:

[0140] If the new path between the first path point and the second path point exceeds the preset length, the initial path between the first path point and the second path point in the first path will not be adjusted.

[0141] After determining the new path between the first path point and the second path point through ray detection, the new path can be compared with the preset length. If the length of the new path exceeds the preset length, the adjusted first path will be too long. In this case, there is no need to adjust the initial path between the first path point and the second path point in the first path according to the new path. The height of the QA camera can be adjusted according to the height of the obstacle between the first path point and the second path point.

[0142] In some embodiments, to reduce processing workload, the need to adjust the first path can be determined based on the number of times the ray inspection is performed during the ray inspection process.

[0143] For example, during ray detection starting from the first path point, if the number of ray detections exceeds a preset number (e.g., twice) and no location point without obstacles between the first and second path points is found, then ray detection is unnecessary; that is, the path between the first and second path points does not need to be adjusted. The height of the QA camera can be adjusted according to the height of the obstacles between the first and second path points.

[0144] In some embodiments, for a path point in the first path that is located in an obstacle, there is no need to adjust the path corresponding to the path point. The height of the QA camera at the path point can be adjusted by adjusting the height of the path point to avoid the problem of passing through the obstacle.

[0145] Furthermore, in some embodiments, the step "controlling the virtual camera to capture scene images along the first path on the scene map" may include the following operations:

[0146] In some embodiments, after generating the target path, the scene map can be tested based on the target path. In this case, the method may further include the following steps:

[0147] On the scene map, control the virtual camera to capture scene images along the target path;

[0148] The scene image is inspected to obtain the scene map inspection results.

[0149] Among them, the virtual camera can be a QA camera, which captures virtual scenes in the scene map to form scene images, which are the images presented to the user.

[0150] Scene detection can be performed in various ways, such as manual detection or automatic detection.

[0151] In some embodiments, scene images can be manually inspected. The process of inspecting the scene images to obtain the scene map inspection results may include: checking the detail presentation in the scene images, such as checking whether the terrain is accurately presented, whether the details of buildings and facilities are complete, and whether the NPCs in the scene are accurate; and checking whether the scene layout in the scene images is reasonable, such as area division and path planning. Based on the inspection results of the detail presentation and the reasonable results of the scene layout, the scene map inspection results are obtained.

[0152] In some embodiments, the automatic detection step, "detecting the scene image and obtaining the detection result of the scene map", may include the following operations:

[0153] Obtain reference scene images corresponding to each location on the target path in the scene map;

[0154] The scene image is compared with the reference scene image to obtain the comparison results between the scene image and the reference scene image.

[0155] Based on the comparison results, the detection results of the scene map are determined.

[0156] The reference scene image refers to the ideal reference scene image pre-drawn based on the observation perspective of each location point on the scene map. In the reference scene image, the details of the scene are accurately presented and the layout is reasonable.

[0157] Furthermore, by comparing the scene image with a reference scene image, specifically, the reference scene image corresponding to each position on the target path can be compared with the reference scene image corresponding to that position. For example, the content layout and detail presentation in the reference scene image and the scene image can be compared to obtain the comparison result between the scene image and the reference scene image, which can be used as the detection result of the scene map.

[0158] This application discloses a method for detecting scene maps. The method includes: acquiring complexity information of each scene location in the scene map; generating a heat map corresponding to the scene map based on the complexity information; determining at least one heat region from the heat map based on the heat value information of the heat map; determining at least one path point from the scene map based on the key points of the heat region; and generating a target path in the scene map based on the at least one path point. This can improve the detection efficiency of scene maps.

[0159] To facilitate better implementation of the scene map detection method provided in this application, this application also provides a scene map detection device based on the above-described scene map detection method. The meanings of the terms used are the same as in the scene map detection method described above, and specific implementation details can be found in the descriptions within the method embodiments.

[0160] Please see Figure 11 , Figure 11 This application provides a structural block diagram of a scene map detection device, which includes:

[0161] The first acquisition unit 301 is used to acquire the complexity information of each scene location in the scene map;

[0162] The first generation unit 302 is used to generate a heat map corresponding to the scene map based on the complexity information;

[0163] The first determining unit 303 is used to determine at least one thermal region from the thermal map based on the thermal value information of the thermal map;

[0164] The second determining unit 304 is used to determine at least one path point from the scene map based on the key points of the thermal region;

[0165] The second generation unit 305 is used to generate a target path in the scene map based on the at least one path point, so as to detect the scene map according to the target path.

[0166] In some embodiments, the thermal value information includes the thermal values ​​at various points in the thermal map; the first determining unit 303 may include:

[0167] The first determining subunit is used to determine candidate location points from the heat map whose thermal values ​​are greater than a preset threshold.

[0168] The second determining subunit is used to group the candidate location points based on the thermal values ​​of the candidate location points and the distance between the candidate location points to obtain at least one group of target location points;

[0169] The third determining subunit is used to determine the at least one thermal region based on the at least one set of target location points.

[0170] In some embodiments, the second determining unit 304 may include:

[0171] The fourth determining subunit is used to determine the key points of each thermal region in the heat map;

[0172] The fifth determining subunit is used to obtain the positional correspondence between the scene map and the heat map, and to determine the position of the key point in the scene map based on the positional correspondence, as the path point.

[0173] In some embodiments, the fourth determining subunit may specifically be used for:

[0174] From the at least one thermal region, a first thermal region with an area exceeding a preset area and a second thermal region with an area not exceeding the preset area are determined.

[0175] Determine the center point of the second thermal region to obtain the key points of the second thermal region;

[0176] The first thermal region is divided into multiple thermal sub-regions based on the preset area, and the center point of each thermal sub-region is determined to obtain the key points of each thermal sub-region; based on the key points, the distribution of key points of the first thermal region is obtained.

[0177] In some embodiments, the complexity information includes rendering complexity; the first generation unit 302 may include:

[0178] The sixth determination subunit is used to determine the heat value corresponding to each scene location based on the rendering complexity of each scene location;

[0179] The first generation subunit is used to generate the heat map based on the thermal value and the color information corresponding to the thermal value.

[0180] In some embodiments, the second generation unit 305 may include:

[0181] A planning subunit is used to perform path planning based on the at least one path point to obtain a first path;

[0182] The first acquisition subunit is used to acquire the height information of the scene location of each path point in the scene map.

[0183] An adjustment subunit is used to adjust the first path based on the height information to obtain the target path.

[0184] In some embodiments, the adjustment subunit can be specifically used for:

[0185] Based on the height information, at least one set of path points is determined from the path points of the first path. The set of path points includes a first path point and a second path point that are adjacent to each other in the first path. The first path point and the second path point are on flat ground, and there are obstacles between the first path point and the second path point.

[0186] Obtain the relative position information between the first path point and the second path point;

[0187] A new path is determined between the first path point and the second path point based on the relative position information;

[0188] The target path is obtained by replacing the initial path between the first path point and the second path point in the first path with the new path.

[0189] In some embodiments, the relative position information includes a first direction from the first path point toward the second path point; the replacement subunit can specifically be used for:

[0190] The target direction range is determined based on the first direction and the preset angle range;

[0191] Using the first path point as the initial point, ray detection is performed within the target direction range based on a second preset distance to determine a third path point located on flat ground between the first path point and the second path point;

[0192] If there are no obstacles between the third path point and the second path point, the new path is determined based on the line connecting the first path point and the third path point, and the line connecting the third path point and the second path point.

[0193] In some embodiments, the device may further include:

[0194] The processing unit is configured to not adjust the initial path between the first path point and the second path point in the first path if the new path between the first path point and the second path point exceeds a preset length.

[0195] In some embodiments, the device may further include:

[0196] The control unit is used to control the virtual camera to capture scene images along the target path on the scene map;

[0197] The detection unit is used to detect the scene image and obtain the detection result of the scene map.

[0198] In some embodiments, the detection unit may include:

[0199] The second acquisition subunit is used to acquire reference scene images corresponding to each position on the target path in the scene map;

[0200] The comparison subunit is used to compare the scene image with the reference scene image to obtain the comparison result between the scene image and the reference scene image;

[0201] The seventh determining subunit is used to determine the detection result of the scene map based on the comparison result.

[0202] This application discloses a scene map detection device. A first acquisition unit 301 acquires complexity information of each scene location in the scene map; a first generation unit 302 generates a heatmap corresponding to the scene map based on the complexity information; a first determination unit 303 determines at least one heat region from the heatmap based on its heat value information; a second determination unit 304 determines at least one path point from the scene map based on the key points of the heat region; and a second generation unit 305 generates a target path in the scene map based on the at least one path point, so that the scene map can be detected according to the target path. This improves the scene map detection efficiency.

[0203] Accordingly, embodiments of this application also provide a computer device, which can be a terminal. For example... Figure 12 As shown, Figure 12 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. The computer device 500 includes a processor 501 with one or more processing cores, a memory 502 with one or more computer-readable storage media, and a computer program stored on the memory 502 and executable on the processor. The processor 501 and the memory 502 are electrically connected. Those skilled in the art will understand that the computer device structure shown in the figure does not constitute a limitation on the computer device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0204] The processor 501 is the control center of the computer device 500. It connects various parts of the computer device 500 through various interfaces and lines. By running or loading software programs and / or modules stored in the memory 502, and calling data stored in the memory 502, it performs various functions of the computer device 500 and processes data, thereby monitoring the computer device 500 as a whole.

[0205] In this embodiment, the processor 501 in the computer device 500 loads the instructions corresponding to the processes of one or more applications into the memory 502 according to the following steps, and the processor 501 runs the applications stored in the memory 502 to achieve various functions:

[0206] Obtain the complexity information of each scene location in the scene map;

[0207] Heatmaps are generated based on complexity information to correspond to scene maps;

[0208] Based on the thermal values ​​in the heat map, at least one thermal region is identified from the heat map.

[0209] Based on the key points of the thermal region, determine at least one waypoint from the scene map;

[0210] A target path is generated in the scene map based on at least one path point, so that the scene map can be detected according to the target path.

[0211] This application embodiment obtains the complexity information of each scene location in a scene map; generates a heatmap corresponding to the scene map based on the complexity information; determines at least one heat region from the heatmap based on the heat value information; determines at least one path point from the scene map based on the key points of the heat region; and generates a target path in the scene map based on the at least one path point, so as to detect the scene map according to the target path. Therefore, by generating a heatmap corresponding to the scene map, determining a target path passing through an important area from the scene map based on the heat value information in the heatmap, and then detecting the scene map using the target path, the detection efficiency of the scene map can be improved.

[0212] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0213] Optional, such as Figure 12 As shown, the computer device 500 also includes: a touch screen display 503, a radio frequency circuit 504, an audio circuit 505, an input unit 506, and a power supply 507. The processor 501 is electrically connected to the touch screen display 503, the radio frequency circuit 504, the audio circuit 505, the input unit 506, and the power supply 507. Those skilled in the art will understand that... Figure 12 The computer device structure shown does not constitute a limitation on the computer device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0214] The touch display screen 503 can be used to display a graphical user interface (GUI) and receive operation commands generated by the user interacting with the GUI. The touch display screen 503 may include a display panel and a touch panel. The display panel can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces of the computer device. These graphical user interfaces can be composed of graphics, guidance information, icons, videos, and any combination thereof. Optionally, the display panel can be configured using a liquid crystal display (LCD), an organic light-emitting diode (OLED), or other similar devices. The touch panel can be used to collect touch operations performed by the user on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel), generate corresponding operation commands, and execute the corresponding program according to the operation commands. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. The touch detection device detects the user's touch location and the signal generated by the touch operation, transmitting the signal to the touch controller. The touch controller receives touch information from the touch detection device, converts it into touch point coordinates, and sends it to the processor 501. It can also receive and execute commands from the processor 501. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it transmits the information to the processor 501 to determine the type of touch event. Subsequently, the processor 501 provides corresponding visual output on the display panel based on the type of touch event. In this embodiment, the touch panel and the display panel can be integrated into the touch display screen 503 to achieve input and output functions. However, in some embodiments, the touch panel and the touch display screen 503 can be implemented as two independent components to achieve input and output functions. That is, the touch display screen 503 can also be used as part of the input unit 506 to achieve input functions.

[0215] The radio frequency circuit 504 can be used to transmit and receive radio frequency signals to establish wireless communication with network devices or other computer devices, and to transmit and receive signals with network devices or other computer devices.

[0216] Audio circuitry 505 can be used to provide an audio interface between a user and a computer device via a speaker and a microphone. Audio circuitry 505 converts received audio data into electrical signals, transmits them to the speaker, and the speaker converts them into sound signals for output. Conversely, the microphone converts collected sound signals into electrical signals, which are then received by audio circuitry 505, converted back into audio data, and output to processor 501 for processing. The audio data is then transmitted via radio frequency circuitry 504 to, for example, another computer device, or output to memory 502 for further processing. Audio circuitry 505 may also include an earphone jack to facilitate communication between peripheral headphones and the computer device.

[0217] The input unit 506 can be used to receive input numbers, characters, or user characteristic information (such as fingerprints, iris, facial information, etc.), and to generate keyboard, mouse, joystick, optical, or trackball signal inputs related to user settings and function control.

[0218] Power supply 507 is used to supply power to various components of computer device 500. Optionally, power supply 507 can be logically connected to processor 501 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. Power supply 507 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0219] although Figure 12 As not shown in the diagram, the computer device 500 may also include a camera, sensors, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0220] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0221] As can be seen from the above, the computer device provided in this embodiment can obtain the complexity information of each scene location in the scene map; generate a heat map corresponding to the scene map based on the complexity information; determine at least one heat region from the heat map based on the heat value information of the heat map; determine at least one path point from the scene map based on the key points of the heat region; and generate a target path in the scene map based on the at least one path point, so as to detect the scene map according to the target path.

[0222] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0223] Therefore, embodiments of this application provide a computer-readable storage medium storing multiple computer programs that can be loaded by a processor to execute steps in any of the scene map detection methods provided in embodiments of this application. For example, the computer program can execute the following steps:

[0224] Obtain the complexity information of each scene location in the scene map;

[0225] Heatmaps are generated based on complexity information to correspond to scene maps;

[0226] Based on the thermal values ​​in the heat map, at least one thermal region is identified from the heat map.

[0227] Based on the key points of the thermal region, determine at least one waypoint from the scene map;

[0228] A target path is generated in the scene map based on at least one path point, so that the scene map can be detected according to the target path.

[0229] This application embodiment obtains the complexity information of each scene location in a scene map; generates a heatmap corresponding to the scene map based on the complexity information; determines at least one heat region from the heatmap based on the heat value information; determines at least one path point from the scene map based on the key points of the heat region; and generates a target path in the scene map based on the at least one path point, so as to detect the scene map according to the target path. Therefore, by generating a heatmap corresponding to the scene map, determining a target path passing through an important area from the scene map based on the heat value information in the heatmap, and then detecting the scene map using the target path, the detection efficiency of the scene map can be improved.

[0230] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0231] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0232] Since the computer program stored in the computer-readable storage medium can execute the steps in any of the scene map detection methods provided in the embodiments of this application, the beneficial effects that any of the scene map detection methods provided in the embodiments of this application can achieve can be realized. For details, please refer to the previous embodiments, which will not be repeated here.

[0233] The above provides a detailed description of a scene map detection method, apparatus, computer-readable storage medium, and computer device provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for detecting scene maps, characterized in that, The method includes: Obtain the complexity information of each scene location in the scene map; A heatmap corresponding to the scene map is generated based on the complexity information; Based on the thermal value information of the heat map, at least one thermal region is determined from the heat map; Based on the key points of the thermal region, at least one path point is determined from the scene map; Based on the at least one path point, a target path is generated in the scene map so that the scene map can be detected according to the target path.

2. The method according to claim 1, characterized in that, The thermal value information includes the thermal values ​​at each location point in the thermal map; The step of determining at least one thermal region from the thermal map based on the thermal value information of the thermal map includes: Candidate locations with thermal values ​​greater than a preset threshold are determined from the heat map; Based on the thermal values ​​of the candidate locations and the distances between them, the candidate locations are grouped to obtain at least one group of target locations. Based on the at least one set of target location points, the at least one thermal region is determined.

3. The method according to claim 1, characterized in that, The determination of at least one waypoint from the scene map based on the key points of the thermal region includes: Identify the key points of each thermal region in the heat map; Obtain the positional correspondence between the scene map and the heat map, and determine the corresponding position of the key point in the scene map based on the positional correspondence, which is then used as the waypoint.

4. The method according to claim 3, characterized in that, The key points for determining each thermal region in the heat map include: From the at least one thermal region, a first thermal region with an area exceeding a preset area and a second thermal region with an area not exceeding the preset area are determined. Determine the center point of the second thermal region to obtain the key points of the second thermal region; The first thermal region is divided into multiple thermal sub-regions based on the preset area, and the center point of each thermal sub-region is determined to obtain the key points of each thermal sub-region; based on the key points, the distribution of key points of the first thermal region is obtained.

5. The method according to claim 1, characterized in that, The complexity information includes rendering complexity; The step of generating a heatmap corresponding to the scene map based on the complexity information includes: Determine the heat value corresponding to each scene location based on the rendering complexity of each scene location; The heat map is generated based on the heat value and the color information corresponding to the heat value.

6. The method according to claim 1, characterized in that, The step of generating a target path in the scene map based on the at least one path point includes: Based on the at least one path point, a first path is obtained through path planning. Obtain the elevation information of the scene location of each path point in the scene map; The first path is adjusted based on the height information to obtain the target path.

7. The method according to claim 6, characterized in that, The step of adjusting the first path based on the height information to obtain the target path includes: Based on the height information, at least one set of path points is determined from the path points of the first path. The set of path points includes a first path point and a second path point that are adjacent to each other in the first path. The first path point and the second path point are on flat ground, and there are obstacles between the first path point and the second path point. Obtain the relative position information between the first path point and the second path point; A new path is determined between the first path point and the second path point based on the relative position information; The target path is obtained by replacing the initial path between the first path point and the second path point in the first path with the new path.

8. The method according to claim 7, characterized in that, The relative position information includes a first direction from the first path point toward the second path point; Determining a new path between the first path point and the second path point based on the relative position information includes: The target direction range is determined based on the first direction and the preset angle range; Using the first path point as the initial point, ray detection is performed within the target direction range based on a second preset distance to determine a third path point located on flat ground between the first path point and the second path point; If there are no obstacles between the third path point and the second path point, the new path is determined based on the line connecting the first path point and the third path point, and the line connecting the third path point and the second path point.

9. The method according to claim 7, characterized in that, The method further includes: If the new path between the first path point and the second path point exceeds a preset length, the initial path between the first path point and the second path point in the first path will not be adjusted.

10. The method according to claim 6, characterized in that, The method further includes: On the scene map, control the virtual camera to capture scene images along the target path; The scene image is inspected to obtain the inspection results of the scene map.

11. The method according to claim 10, characterized in that, The detection of the scene image to obtain the detection result of the scene map includes: Obtain reference scene images corresponding to each location on the target path in the scene map; The scene image is compared with the reference scene image to obtain the comparison result between the scene image and the reference scene image; Based on the comparison results, the detection results of the scene map are determined.

12. A scene map detection device, characterized in that, The device includes: The first acquisition unit is used to acquire the complexity information of each scene location in the scene map; The first generation unit is used to generate a heat map corresponding to the scene map based on the complexity information. The first determining unit is configured to determine at least one thermal region from the thermal map based on the thermal value information of the thermal map; The second determining unit is used to determine at least one path point from the scene map based on the key points of the thermal region; The second generation unit is configured to generate a target path in the scene map based on the at least one path point, so as to detect the scene map according to the target path.

13. A computer device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein, When the processor executes the program, it implements the scene map detection method as described in any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a plurality of instructions adapted for loading by a processor to execute the scene map detection method according to any one of claims 1 to 11.

Images