Scene processing method and device and terminal equipment

Abstract

The invention provides a scene processing method and apparatus, and a terminal device. The method comprises the steps of obtaining information of a first point cloud corresponding to a target scene generated by the terminal device; acquiring information of a second point cloud corresponding to the target scene generated by target equipment; determining a target point cloud corresponding to the second point cloud in the first point cloud according to the information of the first point cloud and the information of the second point cloud; and determining a scale for constructing the target scene according to the target point cloud and the second point cloud. And the scene reconstruction accuracy is improved.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the field of scene reconstruction technology, and in particular, to a scene processing method, apparatus, and terminal device. Background Art

[0002] Mixed Reality (MR) technology can introduce virtual scene information into the real environment to enhance the realism of the user experience.

[0003] Currently, when performing scene reconstruction, an MR device can collect environmental information in the real environment based on multiple sensors and perform scene reconstruction based on the environmental information in the real environment. However, when multiple MR devices are connected, there are calibration errors in the sensors of each MR device, resulting in a large error between the scenes reconstructed by multiple MR devices. Summary of the Invention

[0004] The present disclosure provides a scene processing method, apparatus, and terminal device for solving the technical problem of large errors between the scenes reconstructed by multiple existing mixed reality devices.

[0005] In a first aspect, the present disclosure provides a scene processing method, which includes:

[0006] Obtaining information of a first point cloud corresponding to a target scene collected by a terminal device;

[0007] Obtaining information of a second point cloud corresponding to the target scene collected by a target device;

[0008] Determining, in the first point cloud, a target point cloud corresponding to the second point cloud according to the information of the first point cloud and the information of the second point cloud;

[0009] Determining a scale for constructing the target scene according to the target point cloud and the second point cloud.

[0010] In a second aspect, the present disclosure provides a scene processing apparatus, where the scene processing apparatus includes a first acquisition module, a second acquisition module, a first determination module, and a second determination module, where:

[0011] The first acquisition module is configured to obtain information of a first point cloud corresponding to a target scene collected by a terminal device;

[0012] The second acquisition module is configured to obtain information of a second point cloud corresponding to the target scene collected by a target device;

[0013] The first determination module is configured to determine, in the first point cloud, a target point cloud corresponding to the second point cloud according to the information of the first point cloud and the information of the second point cloud;

[0014] The second determination module is configured to determine a scale for constructing the target scenario according to the target point cloud and the second point cloud.

[0015] In a third aspect, an embodiment of the present disclosure provides a terminal device, including: a processor and a memory;

[0016] The memory stores computer-executable instructions;

[0017] The processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the scenario processing method as described in the first aspect above and various possible aspects related to the first aspect.

[0018] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, in which computer-executable instructions are stored. When the processor executes the computer-executable instructions, the scenario processing method as described in the first aspect above and various possible aspects related to the first aspect are implemented.

[0019] The present disclosure provides a scenario processing method, apparatus and terminal device. The terminal device can obtain information of a first point cloud corresponding to a target scenario collected by the terminal device, obtain information of a second point cloud corresponding to the target scenario collected by the target device, and determine, in the first point cloud, a target point cloud corresponding to the second point cloud according to the information of the first point cloud and the information of the second point cloud. The terminal device can determine a scale for constructing the target scenario according to the target point cloud and the second point cloud. In the above method, since the terminal device can match the first point cloud and the second point cloud according to the information of the first point cloud and the information of the second point cloud, the terminal device can accurately determine the scale error when the terminal device and the target device construct the target scenario according to the matched point clouds, and further accurately determine the scale for the terminal device to construct the target scenario. In this way, the scale for the terminal device to construct the target scenario is the same as the scale for the target device to construct the target scenario, reducing the error between scene reconstructions and improving the accuracy of scene reconstruction. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 FIG. is a schematic diagram of an application scenario provided by an embodiment of the present disclosure;

[0022] Figure 2 FIG. is a flowchart of a scenario processing method provided by an embodiment of the present disclosure;

[0023] Figure 3 Schematic diagram of a first point cloud provided by an embodiment of the present disclosure;

[0024] Figure 4 Schematic diagram of a second point cloud provided by an embodiment of the present disclosure;

[0025] Figure 5 Schematic diagram of a first tetrahedron provided by an embodiment of the present disclosure;

[0026] Figure 6 Schematic diagram of a first line segment and a second line segment provided by an embodiment of the present disclosure;

[0027] Figure 7 Schematic diagram of determining the scale for constructing the target scene provided by an embodiment of the present disclosure;

[0028] Figure 8 Schematic diagram of a method for determining a target point cloud provided by an embodiment of the present disclosure;

[0029] Figure 9 Schematic diagram of determining a target point cloud provided by an embodiment of the present disclosure;

[0030] Figure 10 Schematic diagram of the process of a scene processing method provided by an embodiment of the present disclosure;

[0031] Figure 11 Schematic diagram of the structure of a scene processing device provided by an embodiment of the present disclosure;

[0032] Figure 12 Schematic diagram of the structure of a terminal device provided by an embodiment of the present disclosure. Detailed implementation manners

[0033] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0034] For ease of understanding, the concepts related to the embodiments of the present disclosure will be described below.

[0035] Terminal device: A device with wireless transceiver capabilities. Terminal devices can be deployed on land, including indoor or outdoor, handheld, wearable, or vehicle-mounted. The terminal device can be a mobile phone, a tablet (Pad), a computer with wireless transceiver capabilities, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a vehicle-mounted terminal device, a wireless terminal in self-driving, a wireless terminal device in remote medical, a wireless terminal device in smart grid, a wireless terminal device in transportation safety, a wireless terminal device in smart city, a wireless terminal device in smart home, a wearable terminal device, etc. The terminal device involved in the embodiments of the present disclosure may also be referred to as a terminal, a user equipment (UE), an access terminal device, a vehicle-mounted terminal, an industrial control terminal, a UE unit, a UE station, a mobile station, a mobile unit, a remote station, a remote terminal device, a mobile device, a UE terminal device, a wireless communication device, a UE agent, or a UE device, etc. The terminal device can also be fixed or mobile.

[0036] Next, in combination with Figure 1 , the application scenarios of the embodiments of the present disclosure will be described.

[0037] Figure 1 FIG. is a schematic diagram of an application scenario provided for the embodiments of the present disclosure. Please refer to Figure 1 , including a mixed reality device 1 and a mixed reality device 2. Among them, the mixed reality device 1 is connected to the mixed reality device 2. Optionally, the mixed reality device 1 and the mixed reality device 2 can be connected based on a wired or wireless (such as Bluetooth, wireless local area network, etc.) method. Based on the data collected by the sensors, the mixed reality device 1 can construct a scene A, and based on the data collected by the sensors, the mixed reality device 2 can construct a scene B. Among them, both the scene A and the scene B can include a table (the environments of the scene A and the scene B are the same), so that the effect of multi-machine online connection can be achieved.

[0038] It should be noted that Figure 1 is only an example of the embodiments of the present disclosure, and is not a limitation on the embodiments of the present disclosure.

[0039] In related technologies, mixed reality technology can introduce virtual scene information into the real environment to enhance the realism of the user experience. Currently, MR devices are usually devices for individual use by users. MR devices can collect environmental information in the real environment based on multiple sensors and perform scene reconstruction based on this environmental information. For example, an MR device can reconstruct the real environment in a virtual scene based on the images of the environment collected by a photographing device. The MR device can also generate information such as virtual props in the reconstructed scene. In this way, users can experience a scene that combines reality and virtuality based on the MR device. However, when multiple MR devices are used online by multiple people, due to the calibration errors of the sensors of each MR device, there are also errors between the scenes reconstructed by multiple MR devices. For example, in the embodiment shown in Figure 1 , in the scene A reconstructed by the mixed reality device 1, there may be a table, and in the scene B reconstructed by the mixed reality device 2, there may also be a table. However, due to the calibration error of the sensors between the mixed reality device 1 and the mixed reality device 2, the relative position of the table in scene A is different from the relative position of the table in scene B. In this way, the error between the scenes reconstructed by multiple mixed reality devices is relatively large, and the experience of multiple users using the devices online is poor.

[0040] To solve the technical problems in related technologies, the embodiments of the present disclosure provide a scene processing method. The terminal device can obtain the information of the first point cloud corresponding to the target scene collected by the terminal device, and obtain the information of the second point cloud corresponding to the target scene collected by the target device. The terminal device can determine the first center coordinate of the first point cloud and the second center coordinate of the second point cloud. According to the relationship between the points in the first point cloud and the first center coordinate, the relationship between the points in the second point cloud and the second center coordinate, the first center coordinate and the second center coordinate, the terminal device can determine the transformation matrix between the coordinate system of the target scene collected by the terminal device and the coordinate system of the target scene collected by the target device, and according to the transformation matrix, the information of the first point cloud and the information of the second point cloud, determine the target point cloud corresponding to the second point cloud in the first point cloud. The terminal device can determine the scale for constructing the target scene according to the target point cloud and the second point cloud. In the above method, since the terminal device can transform the first point cloud and the second point cloud into the same scene according to the transformation matrix, the terminal device can accurately determine the matching point cloud. And since the terminal device can accurately determine the scale error when the terminal device and the target device construct the target scene according to the matching point cloud, in this way, the terminal device can accurately determine the scale for constructing the target scene, thereby reducing the error between scene reconstructions and improving the accuracy of scene reconstruction.

[0041] The following uses specific embodiments to elaborate in detail on the technical solutions of the present disclosure and how the technical solutions of the present disclosure solve the above technical problems. The following several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be elaborated in some embodiments. The embodiments of the present disclosure will be described below with reference to the accompanying drawings.

[0042] Figure 2 It is a schematic flowchart of a scenario processing method provided by an embodiment of the present disclosure. Please refer to Figure 2 The method may include:

[0043] S201. Obtain information of a first point cloud corresponding to a target scenario collected by a terminal device.

[0044] The execution subject of the embodiment of the present disclosure may be a terminal device or a scenario processing device provided in the terminal device. Among them, the scenario processing device may be implemented according to software, or may be implemented by a combination of software and hardware. The embodiment of the present disclosure does not limit this.

[0045] Among them, the target scenario may be the real environment where the terminal device is located. For example, if the terminal device is located indoors, the terminal device may determine that the target scenario is the indoor scenario. If the terminal device is located outdoors, the terminal device may determine that the target scenario is the outdoor scenario. For example, the target scenario may be a scenario to be reconstructed. If the target scenario is Scenario 1, the terminal device may reconstruct the three-dimensional scenario of Scenario 1. If the target scenario is Scenario 2, the terminal device may reconstruct the three-dimensional scenario of Scenario 2.

[0046] Among them, the first point cloud may be the point cloud collected by the terminal device in the target scenario. For example, the terminal device may obtain multiple images in the target scenario according to a photographing device, and determine the first point cloud corresponding to the target scenario according to the multiple images in the target scenario. Optionally, the first point cloud may also be the point cloud corresponding to any object in the target scenario collected by the terminal device. The embodiment of the present disclosure does not limit this.

[0047] It should be noted that the information of the first point cloud may include the coordinates of the first point cloud, descriptors for observing the first point cloud from multiple perspectives, etc. The embodiment of the present disclosure does not limit this.

[0048] Next, with reference to Figure 3 the first point cloud will be described.

[0049] Figure 3 It is a schematic diagram of a first point cloud provided by an embodiment of the present disclosure. Please refer to Figure 3, including a target scenario. Among them, the target scenario may include a table. The terminal device can collect multiple feature points of the table in the target scenario to obtain a first point cloud corresponding to the target scenario. Each point in the first point cloud may include a set of geometric coordinates of XYZ. In this way, the terminal device can determine the position and shape of the table in the target scenario based on the first point cloud.

[0050] It should be noted that Figure 3 This is only an example of the first point cloud in the embodiments of the present disclosure, and does not limit the number of the first point clouds.

[0051] S202. Obtain information of a second point cloud corresponding to the target scenario collected by the target device.

[0052] Optionally, the target device may be a device connected to the terminal device. For example, the terminal device and the target device may be mixed reality devices. The terminal device and the target device may be connected based on a network, or based on Bluetooth, or based on a data cable. The embodiments of the present disclosure do not limit this.

[0053] Among them, the second point cloud may be a point cloud collected by the target device in the target scenario. For example, the target device may obtain multiple images in the target scenario according to a photographing device, and determine the second point cloud corresponding to the target scenario according to the multiple images in the target scenario. Optionally, the second point cloud may also be a point cloud corresponding to any object in the target scenario collected by the target device. For example, the target scenario may include object A and object B. The target device may collect the feature points of object A to obtain the second point cloud, or the target device may collect the feature points of object B to obtain the second point cloud, or the target device may collect the feature points of object A and object B to obtain the second point cloud. The embodiments of the present disclosure do not limit this.

[0054] It should be noted that if the terminal device collects the feature points of object A in the target environment to obtain the first point cloud, the target device also collects the feature points of object A in the target environment to obtain the second point cloud; if the terminal device collects the feature points of object B in the target environment to obtain the first point cloud, the target device also collects the feature points of object B in the target environment to obtain the second point cloud.

[0055] It should be noted that the information of the second point cloud may include the coordinates of the points in the second point cloud, descriptors of the second point cloud observed from multiple perspectives, etc. The embodiments of the present disclosure do not limit this.

[0056] Optionally, the target device may send the second point cloud collected in the target scenario in real time. The terminal device may receive the second point cloud sent by the target device, or the terminal device may also obtain the second point cloud collected in the target scenario by the target device based on any feasible implementation manner. The embodiments of the present disclosure do not limit this.

[0057] Next, in combination with Figure 4 , the second point cloud will be described.

[0058] Figure 4 FIG. is a schematic diagram of a second point cloud provided by an embodiment of the present disclosure. Please refer to Figure 4 , including a target scene. Among them, the target scene includes a table and a stool. Since the terminal device ( Figure 4 not shown) can collect the feature points of the table in the target scene to obtain the first point cloud, therefore, the target device can also collect the feature points of the table in the target scene to obtain the second point cloud. Due to the calibration error between the sensors of the terminal device and the target device, or the models or parameters of the terminal device and the target device are different, etc., there is a scale error between the first point cloud determined by the terminal device and the second point cloud determined by the target device.

[0059] S203. According to the information of the first point cloud and the information of the second point cloud, in the first point cloud, determine the target point cloud corresponding to the second point cloud.

[0060] Among them, the target point cloud may be the point cloud in the first point cloud corresponding to the position of the second point cloud. For example, if the first point cloud collected by the terminal device corresponds to the position of the second point cloud collected by the target device in the target scene, the terminal device can determine the corresponding point cloud in the first point cloud and the second point cloud as the target point cloud. For example, the terminal device and the target device can collect the first point cloud and the second point cloud in the target scene according to the same or similar preset rules (for example, both collect point clouds at the same position and in the same direction), and it can be understood that there will be a large number of corresponding points in the first point cloud and the second point cloud, that is, the target point cloud.

[0061] Among them, the terminal device can determine the target point cloud corresponding to the second point cloud according to the following feasible implementation manner: determine the first center coordinate of the first point cloud and the second center coordinate of the second point cloud, and according to the relationship between the points in the first point cloud and the first center coordinate, the relationship between the points in the second point cloud and the second center coordinate, the first center coordinate and the second center coordinate, determine the conversion matrix between the coordinate system in which the terminal device collects the target scene and the coordinate system in which the target device collects the target scene, and according to the conversion matrix, the information of the first point cloud and the information of the second point cloud, determine the target point cloud corresponding to the second point cloud in the first point cloud.

[0062] Among them, the transformation matrix can be used to indicate the transformation relationship between the coordinate system in which the terminal device collects the target scene and the coordinate system in which the target device collects the target scene. For example, the transformation matrix can transform the first point cloud of the target scene collected by the terminal device into the coordinate system of the target scene collected by the target device, and the transformation matrix can also transform the second point cloud of the target scene collected by the target device into the coordinate system of the target scene collected by the terminal device. The embodiments of the present disclosure do not limit this. In this way, the terminal device can transform the first point cloud and the second point cloud into the same coordinate system based on the transformation matrix, and then can accurately determine the target point cloud corresponding to the second point cloud.

[0063] Among them, the first center coordinate can be the coordinate of the center point corresponding to the first point cloud, and the second center coordinate can be the coordinate of the center point corresponding to the second point cloud. For example, if the first point cloud A is (1, 1, 1) and the first point cloud B is (3, 3, 3), then the first center coordinate of the first point cloud A and the first point cloud B is (2, 2, 2). It should be noted that the terminal device can determine the first center coordinate of the first point cloud based on any feasible implementation method, and the embodiments of the present disclosure do not limit this. Moreover, the method by which the terminal device determines the second center coordinate of the second point cloud is the same as the method by which the terminal device determines the first center coordinate, and the embodiments of the present disclosure will not elaborate on this here.

[0064] Optionally, the relationship between the points in the first point cloud and the first center coordinate can be the positional relationship between the points in the first point cloud and the first center coordinate. For example, the relationship between the points in the first point cloud and the first center coordinate can be the distance between the points in the first point cloud and the first center coordinate.

[0065] It should be noted that the terminal device can determine the distance between the points in the first point cloud and the first center coordinate according to any feasible implementation method (for example, determine the coordinates of the points in the first point cloud, and determine the distance between the points in the first point cloud and the first center coordinate based on the coordinates of the points in the first point cloud and the first center coordinate), and the embodiments of the present disclosure do not limit this.

[0066] Optionally, the relationship between the points in the second point cloud and the second center coordinate can be the positional relationship between the points in the second point cloud and the second center coordinate. For example, the relationship between the points in the second point cloud and the second center coordinate can be the distance between the points in the second point cloud and the second center coordinate.

[0067] It should be noted that the terminal device can determine the distance between the points in the second point cloud and the second center coordinate according to any feasible implementation method (for example, determine the coordinates of the points in the second point cloud, and determine the distance between the points in the second point cloud and the second center coordinate based on the coordinates of the points in the second point cloud and the second center coordinate), and the embodiments of the present disclosure do not limit this.

[0068] Among them, the terminal device determines the transformation matrix between the coordinate system of the target scene collected by the terminal device and the coordinate system of the target scene collected by the target device according to the relationship between the points in the first point cloud and the first center coordinate, the relationship between the points in the second point cloud and the second center coordinate, the first center coordinate, and the second center coordinate. Specifically, it can be: According to the first center coordinate and the second center coordinate, determine the translation distance. According to the relationship between the points in the first point cloud and the first center coordinate and the relationship between the points in the second point cloud and the second center coordinate, determine the rotation angle. According to the translation distance and the rotation angle, determine the rotation matrix.

[0069] Optionally, the translation distance can be the distance between the first center coordinate and the second center coordinate. For example, if the first center coordinate is (1, 1, 1) and the second center coordinate is (1, 1, 2), then the distance between the first center coordinate and the second center coordinate is 1, that is, the translation distance is 1. It should be noted that the terminal device can determine the translation distance based on any feasible implementation method, and the embodiments of the present disclosure do not limit this.

[0070] Optionally, the terminal device can determine the first matrix according to multiple first distances between the points in the first point cloud and the first center coordinate, determine the second matrix according to multiple second distances between the points in the second point cloud and the second center coordinate, and calculate the rotation angle between the first matrix and the second matrix to obtain the rotation angle of the transformation matrix. For example, after the terminal device calculates multiple first distances, it can establish the first matrix based on the relationship between the points in the first point cloud and the first center coordinate. Similarly, the terminal device can establish the second matrix. After the terminal device calculates the rotation angle between the first matrix and the second matrix, it can determine this rotation angle as the rotation angle of the transformation matrix.

[0071] It should be noted that the terminal device can calculate the rotation angle between the first matrix and the second matrix according to any feasible implementation method, and the embodiments of the present disclosure do not limit this.

[0072] Optionally, the terminal device can determine the transformation matrix based on the following formula:

[0073]

[0074] Among them, is the transformation matrix, can be the position of the terminal device in the target scene collected by the terminal device, is the position of the terminal device in the target scene collected by the target device.

[0075] It should be noted that each point cloud in the embodiments of the present disclosure may include descriptors for observing the point cloud from different perspectives (such as ORB, SIFT, superpoint, etc.), and the terminal device determines the transformation matrix based on the matching relationship between the descriptors of the first point cloud and the descriptors of the second point cloud. The embodiments of the present disclosure do not limit this.

[0076] S204. Determine the scale for constructing the target scene according to the target point cloud and the second point cloud.

[0077] Among them, the scale of the target scene may be the scale of the target scene constructed by the terminal device. For example, if the sensor collects that the table is located at the position (10, 10, 10) relative to the origin, and if the scale of the target scene is 0.9, then when the terminal device constructs the three-dimensional map of the target scene, it can adjust the position of the table relative to the origin to (9, 9, 9).

[0078] Among them, the terminal device may determine the scale for constructing the target scene according to the following feasible implementation methods: determine at least one first line segment in the target point cloud, determine at least one second line segment in the second point cloud corresponding to the first line segment, and determine the scale for constructing the target scene according to the lengths of at least one pair of the first line segment and the second line segment. In this way, the terminal device can determine the scale error between the target scene collected by the terminal device and the target scene collected by the target device according to the difference between the first line segment and the second line segment corresponding to the first line segment, and then can accurately determine the scale for the terminal device to construct the target scene.

[0079] Optionally, the first line segment may be a line segment obtained by connecting points in the target point cloud. For example, point A in the target point cloud is connected to point B in the target point cloud to obtain line segment 1, point B in the target point cloud is connected to point C in the target point cloud to obtain line segment 2, point a in the second point cloud is connected to point b in the second point cloud to obtain line segment 3, and point c in the second point cloud is connected to point d in the second point cloud to obtain line segment 4. The terminal device may determine that the first line segments are line segment 1 and line segment 2, and the second line segments are line segment 3 and line segment 4.

[0080] Optionally, the second line segment may be a line segment obtained by connecting points in the second point cloud corresponding to the target point cloud. For example, point A in the target point cloud corresponds to point a in the second point cloud, point B in the target point cloud corresponds to point b in the second point cloud. Point A in the target point cloud is connected to point B in the target point cloud to obtain line segment 1, and point a in the second point cloud is connected to point b in the second point cloud to obtain line segment 2. The terminal device may determine that the first line segment is line segment 1, and the terminal device may determine that the second line segment corresponding to the first line segment is line segment 2.

[0081] Optionally, the terminal device may determine at least one first line segment and at least one second line segment according to the following feasible implementation manners: perform tetrahedral meshing on the target point cloud to obtain at least one first tetrahedron, and perform tetrahedral meshing on the point cloud corresponding to the target point cloud in the second point cloud to obtain at least one second tetrahedron.

[0082] Among them, the first tetrahedron may be a tetrahedron constructed based on the target point cloud. For example, the terminal device may perform tetrahedral meshing on the points in the target point cloud to obtain the first tetrahedron. For example, the terminal device may construct 2 tetrahedrons according to 5 points in the target point cloud.

[0083] Among them, the second tetrahedron may be a tetrahedron constructed based on the points in the second point cloud corresponding to the target point cloud. For example, the terminal device may determine the points corresponding to the target point cloud in the second point cloud, and perform tetrahedral meshing based on the points corresponding to the target point cloud to obtain multiple second tetrahedrons.

[0084] Next, a description will be given of the first tetrahedron in conjunction with Figure 5 , and the first tetrahedron will be described.

[0085] Figure 5 FIG. Figure 5 is a schematic diagram of a first tetrahedron provided by an embodiment of the present disclosure. Please refer to

[0086] , which includes a target point cloud. Among them, the target point cloud may include point A, point B, point C, point D, and point E. The terminal device may perform tetrahedral meshing on the points in the target point cloud, that is, connect point A, point B, point C, point D, and point E to obtain 2 first tetrahedrons.

[0087] It should be noted that the terminal device may perform tetrahedral meshing on the points in the target point cloud and tetrahedral meshing on the second point cloud corresponding to the target point cloud based on any feasible implementation manner, and the embodiments of the present disclosure do not limit this. Figure 5 Among them, the first line segment is an edge of the first tetrahedron formed based on the points in the target point cloud, and the second line segment is an edge of the second tetrahedron formed based on the points corresponding to the target point cloud in the second point cloud. For example, the first tetrahedron includes multiple edges, and each edge may be a first line segment. The second tetrahedron includes multiple edges, and each edge may be a second line segment. For example, after the terminal device performs tetrahedral meshing on the points in the target point cloud, the first tetrahedron may be obtained. The terminal device may determine any edge of the first tetrahedron as the first line segment. For example, in the embodiment shown in

[0088] Next, a description will be given in conjunction withFigure 6 , the first line segment and the second line segment are described.

[0089] Figure 6 This is a schematic diagram of a first line segment and a second line segment provided by an embodiment of the present disclosure. Please refer to Figure 6 , including: a first tetrahedron and a second tetrahedron corresponding to the first tetrahedron. Among them, the first tetrahedron includes points A, B, C, and D, and the second tetrahedron includes points a, b, c, and d.

[0090] Please refer to Figure 6 , point A corresponds to point a, point B corresponds to point b, point C corresponds to point c, and point D corresponds to point d. Among them, the terminal device determines that the first line segment is the side connecting point A and point C. Therefore, the terminal device can determine that the second line segment in the second tetrahedron is the side connecting point a and point c.

[0091] Among them, the terminal device determines the scale for constructing the target scene according to the lengths of at least one pair of the first line segment and the second line segment. Specifically, it can be: according to the length difference between at least one pair of the first line segment and the second line segment, determine the scale error between the target scene collected by the terminal device and the target scene collected by the target device, and according to the scale error, determine the scale of the target scene constructed by the terminal device.

[0092] Among them, the length difference between the first line segment and the second line segment can be calculated according to the following formula:

[0093]

[0094] Among them, u is the first line segment, v is the second line segment, and e uv is the length of the first line segment, is the length of the second line segment, and λ is the scale error to be solved.

[0095] Among them, the terminal device determines the scale error between the target scene collected by the terminal device and the target scene collected by the target device. Specifically, it can be as shown in the following formula:

[0096]

[0097] Among them, u is the first line segment, v is the second line segment, and e uv is the length of the first line segment, is the length of the second line segment, and λ is the scale error to be solved.

[0098] Among them, the terminal device solves for λ in the above formula to obtain the scale error between the target scene collected by the terminal device and the target scene collected by the target device. The terminal device can adjust the scale of the target scene collected by the terminal device according to the scale error. For example, if the scale error is 0.9, and if the terminal device determines according to the data collected by the sensor that an object moves 1 meter in the target scene, the terminal device can adjust 1 meter to 0.9 meter. If the terminal device determines according to the data collected by the sensor that the object is located at the position (100, 100, 100) relative to the origin in the target scene, the terminal device can adjust the position of the object to (90, 90, 90) relative to the origin. In this way, the scale of the target scene collected by the terminal device is the same as the scale of the target scene collected by the target device. Therefore, the terminal device and the target device can jointly construct a three-dimensional map of the current target scene (for example, the terminal device is responsible for constructing a part of the three-dimensional map, and the target device is responsible for constructing another part of the three-dimensional map), improving the efficiency of constructing the target scene.

[0099] Next, in conjunction with Figure 7 , an explanation will be given of how the terminal device determines the scale of constructing the target scene according to the scale error.

[0100] Figure 7 FIG. is a schematic diagram for determining the scale of constructing the target scene provided by an embodiment of the present disclosure. Please refer to Figure 7 , which includes the target scene collected by the terminal device. Among them, the target scene collected by the terminal device includes a chair. The terminal device ( Figure 7 not shown) can determine according to the data collected by the sensor that the chair moves 1 meter to the right in the target scene. The terminal device determines that the scale error is 0.7. In the actual processing process, in the target scene that the terminal device can construct, the chair moves 0.7 meters to the right. In this way, the error between the target scenes constructed after the terminal device and the target device are connected online is small, improving the user experience.

[0101] It should be noted that the terminal device can adjust any length-related parameters such as the position and moving distance of the object in the target scene based on the scale of the target scene constructed by the terminal device. The embodiments of the present disclosure do not limit this.

[0102] An embodiment of the present disclosure provides a scenario processing method. A terminal device can obtain information of a first point cloud corresponding to a target scenario collected by the terminal device, obtain information of a second point cloud corresponding to the target scenario collected by a target device, and based on the information of the first point cloud and the information of the second point cloud, determine a target point cloud corresponding to the second point cloud in the first point cloud, determine a scale for constructing the target scenario, determine at least one first line segment in the target point cloud, determine at least one second line segment in the second point cloud corresponding to the first line segment, and determine the scale for constructing the target scenario according to the lengths of at least one pair of the first line segment and the second line segment. In the above method, since the terminal device can transform the first point cloud and the second point cloud into the same scenario according to a rotation matrix, it is possible to accurately determine the matching first point cloud and second point cloud. Moreover, since the terminal device can accurately determine the scale error between the target scenario collected by the terminal device and the target scenario collected by the target device according to the length difference between the first line segment and the second line segment constructed from the matching first point cloud and second point cloud, the terminal device can accurately determine the scale for constructing the target scenario, thereby reducing the error between multiple devices in constructing the target scenario and improving the user experience.

[0103] Based on the embodiment shown in Figure 2 , the method for determining the target point cloud corresponding to the second point cloud in the first point cloud according to the transformation matrix, the information of the first point cloud, and the information of the second point cloud in the above scenario processing method will be described below in conjunction with Figure 8 .

[0104] Figure 8 FIG. is a schematic diagram of a method for determining a target point cloud provided by an embodiment of the present disclosure. Please refer to Figure 8 . The method flow includes:

[0105] S801. Obtain a third point cloud of the second point cloud in the target scenario generated by the terminal device according to the transformation matrix.

[0106] The third point cloud may be the point cloud obtained by transforming the second point cloud into the target scenario collected by the terminal device. For example, after the terminal device determines the transformation matrix between the coordinate system of the target scenario collected by the terminal device and the coordinate system of the target scenario collected by the target device, it can process the coordinates of the points in the second point cloud in the target scenario collected by the target device based on the transformation matrix to obtain the coordinates of the points in the second point cloud in the target scenario collected by the terminal device.

[0107] The terminal device can perform transformation processing on the second point cloud according to the following formula to obtain the third point cloud:

[0108]

[0109] where are the coordinates of the points in the third point cloud, is the transformation matrix, are the coordinates of the points in the second point cloud.

[0110] It should be noted that the terminal device can also determine the coordinates of each point in the third point cloud based on any feasible implementation manner, and the embodiments of the present disclosure do not limit this.

[0111] It should be noted that the terminal device can also convert the second point cloud into the third point cloud based on any feasible implementation manner, and the embodiments of the present disclosure do not limit this.

[0112] S802. Determine the target point cloud according to the first point cloud and the third point cloud.

[0113] Among them, the terminal device can determine the target point cloud according to the following feasible implementation manner: construct an octree according to the third point cloud, and determine the point cloud closest to the third point cloud in the first point cloud as the target point cloud according to the first point cloud and the octree.

[0114] For example, after the terminal device converts the second point cloud into the target scene collected by the terminal device, the third point cloud is obtained. The terminal device can calculate the point in the first point cloud closest to the third point cloud based on the coordinates of each point in the third point cloud and the information of the first point cloud, and then can determine the point in the first point cloud as the point in the target point cloud corresponding to the point in the second point cloud. For example, the first point cloud includes point 1 and point 2, the second point cloud includes point 3, and after the terminal device processes the second point cloud according to the transformation matrix, the third point cloud including point 4 can be obtained. If the distance between point 4 and point 1 is the closest, the terminal device can determine point 1 (the point in the first point cloud) as the point in the target point cloud corresponding to point 3 (the point in the second point cloud). If the distance between point 4 and point 2 is the closest, the terminal device can determine point 2 (the point in the first point cloud) as the point in the target point cloud corresponding to point 3 (the point in the second point cloud). If the distance between point 4 and point 1 is the same as the distance between point 4 and point 2, the terminal device can determine point 1 (the point in the first point cloud) or point 2 (the point in the first point cloud) as the point in the target point cloud corresponding to point 3 (the point in the second point cloud).

[0115] Optionally, the terminal device can construct an octree according to the third point cloud, and then determine the point cloud closest to the third point cloud in the first point cloud as the target point cloud according to the first point cloud and the octree.

[0116] Optionally, for any point in the third point cloud, the terminal device can determine the target point closest to the point in the third point cloud among multiple points in the first point cloud, and then obtain the target point cloud according to the multiple target points.

[0117] Next, in combination with Figure 9 , the method for the terminal device to determine the target point cloud will be described.

[0118] Figure 9 Schematic diagram of a method for determining a target point cloud provided by an embodiment of the present disclosure. Please refer to Figure 9 , which includes: a target scene collected by a terminal device. Among them, the target scene may include a first point cloud and a third point cloud (the white circles are the points in the first point cloud, and the black circles are the points in the third point cloud). The terminal device ( Figure 9 not shown) can divide the target scene into 4 regions (the octree is the spatial position, Figure 9 the embodiment shown is a planar example of the octree), where the first region includes 2 points in the first point cloud and 2 points in the third point cloud, the second region includes 1 point in the first point cloud and 1 point in the third point cloud, the third region includes 1 point in the first point cloud and 1 point in the third point cloud, and the fourth region includes 2 points in the first point cloud and 2 points in the third point cloud.

[0119] Please refer to Figure 9 , since both the second region and the third region include 1 point in the first point cloud and 1 point in the third point cloud, the terminal device can determine the point in the first point cloud in the second region as the point in the target point cloud, and the terminal device can determine the point in the first point cloud in the third region as the point in the target point cloud. The terminal device can re-divide the first region and the fourth region.

[0120] Please refer to Figure 9 , among the 4 sub-regions divided from the first region, both the third sub-region and the fourth sub-region include 1 point in the first point cloud and 1 point in the third point cloud. Therefore, the terminal device can determine the point in the first point cloud as the point in the target point cloud. Among the 2 sub-regions divided from the fourth region, each sub-region includes 1 point in the first point cloud and 1 point in the third point cloud. Therefore, the terminal device can determine the point in the first point cloud as the point in the target point cloud in the fourth region, and then obtain the target point cloud based on the determined multiple target points. In this way, the terminal device can accurately determine the target point cloud corresponding to the second point cloud, and then can improve the accuracy of the scale error.

[0121] It should be noted that if the region includes multiple points in the first point cloud and 1 point in the third point cloud, the terminal device can also match the descriptors corresponding to the multiple points in the first point cloud with the descriptor corresponding to the 1 point in the third point cloud, and then can obtain the point in the first point cloud that is closest to the point in the third point cloud (that is, the two points are corresponding points). The embodiments of the present disclosure do not limit this.

[0122] An embodiment of the present disclosure provides a method for determining a target point cloud. According to a transformation matrix, a third point cloud of a second point cloud in a target scene collected by a terminal device is obtained. An octree is constructed based on the third point cloud. Based on the first point cloud and the octree, a point cloud closest to the third point cloud in the first point cloud is determined as the target point cloud. In this way, the terminal device can accurately determine the target point cloud corresponding to the second point cloud, and further can accurately determine the scale error between the target scene collected by the terminal device and the target scene collected by the target device, reducing the error when multiple devices jointly construct the target scene.

[0123] Based on any of the above embodiments, hereinafter, in combination with Figure 10 , the process of the above scene processing method will be described.

[0124] Figure 10 It is a schematic diagram of the process of a scene processing method provided by an embodiment of the present disclosure. Please refer to Figure 10 , including: a terminal device and a target device. Among them, the terminal device is connected to the target device. The terminal device can collect a first point cloud in the target scene, and the target device can collect a second point cloud in the target scene. Among them, the first point cloud may include points A, B, C, D, and E (only for example, not limited), and the second point cloud may include points a, b, c, d, and e (only for example, not limited).

[0125] Please refer to Figure 10 , after the terminal device determines the transformation matrix, it can transform the second point cloud to obtain a third point cloud, and based on the first point cloud and the third point cloud, determine the target point cloud corresponding to the second point cloud (the first point cloud is the target point cloud), and obtain the matching relationship between the points in the second point cloud and the points in the target point cloud. Among them, the matching relationship includes: point A matches point a, point B matches point b, point C matches point c, point D matches point d, and point E matches point e.

[0126] Please refer to Figure 10 , the terminal device can perform tetrahedral meshing on the target point cloud to obtain a plurality of first tetrahedrons, and the terminal device can perform tetrahedral meshing on the second point cloud to obtain a plurality of second tetrahedrons. The terminal device can determine the matching line segments between the plurality of first tetrahedrons and the plurality of second tetrahedrons.

[0127] Please refer to Figure 10, the matching line segments may include: line segment AD matching line segment ad, line segment AC matching line segment ac, line segment AB matching line segment ab, line segment BC matching line segment bc, line segment BD matching line segment bd, line segment CD matching line segment cd, line segment EC matching line segment ec, line segment ED matching line segment ed, and line segment EB matching line segment eb. The terminal device may determine the scale error between the target scene collected by the terminal device and the target scene collected by the target device according to the error of each group of matching line segments, and determine the scale of the target scene constructed by the terminal device.

[0128] In this way, since the terminal device can accurately determine the scale error between the target scene collected by the terminal device and the target scene collected by the target device based on the error of the matching line segments, and the matching line segments are determined by the line segments between the points in the target point cloud with corresponding positions and the line segments between the points in the second point cloud, the accuracy of the scale error is relatively high. And since the terminal device can jointly establish the target scene with the same scale as the target device, the efficiency of constructing the target scene can be improved.

[0129] Figure 11 It is a schematic structural diagram of a scene processing device provided by an embodiment of the present disclosure. Please refer to Figure 11 , the scene processing device 110 includes a first acquisition module 111, a second acquisition module 112, a first determination module 113, and a second determination module 114, where:

[0130] The first acquisition module 111 is configured to acquire information of a first point cloud corresponding to a target scene collected by a terminal device;

[0131] The second acquisition module 112 is configured to acquire information of a second point cloud corresponding to the target scene collected by the target device;

[0132] The first determination module 113 is configured to determine, in the first point cloud, a target point cloud corresponding to the second point cloud according to the information of the first point cloud and the information of the second point cloud;

[0133] The second determination module 114 is configured to determine the scale for constructing the target scene according to the target point cloud and the second point cloud.

[0134] According to one or more embodiments of the present disclosure, the first determination module 113 is specifically configured to:

[0135] Determine a first center coordinate of the first point cloud and a second center coordinate of the second point cloud;

[0136] Determine a transformation matrix between the coordinate system of the target scene collected by the terminal device and the coordinate system of the target device collecting the target scene according to the relationship between the points in the first point cloud and the first center coordinates, the relationship between the points in the second point cloud and the second center coordinates, the first center coordinates, and the second center coordinates;

[0137] Determine the target point cloud corresponding to the second point cloud in the first point cloud according to the transformation matrix, the information of the first point cloud, and the information of the second point cloud.

[0138] According to one or more embodiments of the present disclosure, the first determination module 113 is specifically configured to:

[0139] Obtain a third point cloud of the second point cloud in the target scene collected by the terminal device according to the transformation matrix;

[0140] Determine the target point cloud according to the first point cloud and the third point cloud.

[0141] According to one or more embodiments of the present disclosure, the first determination module 113 is specifically configured to:

[0142] Construct an octree according to the third point cloud;

[0143] Determine, according to the first point cloud and the octree, the point cloud with the closest distance to the third point cloud in the first point cloud as the target point cloud.

[0144] According to one or more embodiments of the present disclosure, the second determination module 114 is specifically configured to:

[0145] Determine at least one first line segment in the target point cloud;

[0146] Determine at least one second line segment in the second point cloud corresponding to the first line segment;

[0147] Determine the scale for constructing the target scene according to the lengths of at least one pair of the first line segment and the second line segment.

[0148] According to one or more embodiments of the present disclosure, the second determination module 114 is further configured to:

[0149] Perform tetrahedral meshing on the target point cloud to obtain at least one first tetrahedron;

[0150] Perform tetrahedral meshing on the point cloud corresponding to the target point cloud in the second point cloud to obtain at least one second tetrahedron;

[0151] The first line segment is an edge of the first tetrahedron, and the second line segment is an edge of the second tetrahedron.

[0152] According to one or more embodiments of the present disclosure, the second determination module 114 is specifically configured to:

[0153] Determine a scale error between the target scene collected by the terminal device and the target scene collected by the target device according to the length difference between at least one pair of the first line segment and the second line segment;

[0154] Determine the scale of the target scene constructed by the terminal device according to the scale error.

[0155] The scene processing device provided by the embodiments of the present disclosure can be used to execute the technical solutions of the above method embodiments, and its implementation principles and technical effects are similar, which will not be elaborated here in this embodiment.

[0156] Figure 12 It is a schematic structural diagram of a terminal device provided by an embodiment of the present disclosure. Please refer to Figure 12 , which shows a schematic structural diagram of a terminal device 1200 suitable for implementing the embodiments of the present disclosure. Among them, the terminal device may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, personal digital assistants (Personal Digital Assistant, abbreviated as PDA), tablet computers (Portable Android Device, abbreviated as PAD), portable multimedia players (Portable Media Player, abbreviated as PMP), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 12 The terminal device shown is only an example, and should not impose any limitations on the functions and usage scope of the embodiments of the present disclosure.

[0157] As Figure 12 shown, the terminal device 1200 may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 1201, which may execute various appropriate actions and processes according to a program stored in a read-only memory (Read Only Memory, abbreviated as ROM) 1202 or a program loaded from a storage device 1208 into a random access memory (Random Access Memory, abbreviated as RAM) 1203. In the RAM 1203, various programs and data required for the operation of the terminal device 1200 are also stored. The processing device 1201, the ROM 1202, and the RAM 1203 are connected to each other through a bus 1204. The input / output (I / O) interface 1205 is also connected to the bus 1204.

[0158] Typically, the following devices can be connected to the I / O interface 1205: an input device 1206 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 1207 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1208 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1209. The communication device 1209 can allow the terminal device 1200 to communicate with other devices wirelessly or wiredly to exchange data. Although Figure 12 the terminal device 1200 with various devices is shown, it should be understood that it is not required to implement or have all the shown devices. More or fewer devices can be alternatively implemented or had.

[0159] In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through the communication device 1209, or installed from the storage device 1208, or installed from the ROM 1202. When the computer program is executed by the processing device 1201, the above functions defined in the methods of the embodiments of the present disclosure are executed.

[0160] It should be noted that the computer-readable medium described above can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, 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 above. In the present disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device. In the present disclosure, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, and this computer-readable signal medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0161] The above computer-readable medium can be included in the above terminal device; it can also exist separately without being assembled into the terminal device.

[0162] The above computer-readable medium carries one or more programs, and when the one or more programs are executed by the terminal device, the terminal device is caused to execute the method shown in the above embodiments.

[0163] An embodiment of the present disclosure provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the processor executes the computer-executable instructions, the methods that may be involved in various aspects of the above embodiments are implemented.

[0164] An embodiment of the present disclosure provides a computer program product, including a computer program, and when the computer program is executed by the processor, the methods that may be involved in various aspects of the above embodiments are implemented.

[0165] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may execute entirely on the user's computer, partially on the user's computer, execute as a stand-alone software package, execute partially on the user's computer and partially on a remote computer, or execute entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0166] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that, in some alternative implementations, the functions noted in the blocks may occur in an order different from that noted in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0167] The units described in the embodiments of the present disclosure may be implemented in software or in hardware. Among them, the name of the unit does not constitute a limitation to the unit itself in some cases. For example, the first acquisition unit may also be described as "the unit for acquiring at least two Internet protocol addresses".

[0168] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), system on a chip (SOC), complex programmable logic devices (CPLD), and so on.

[0169] In the context of the present disclosure, a machine-readable medium may be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0170] It should be noted that the modifications of "one" and "plural" mentioned in the present disclosure are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more".

[0171] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only for illustrative purposes and are not used to limit the scope of these messages or information.

[0172] It can be understood that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, usage scopes, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0173] For example, when responding to receiving an active request from a user, a prompt message is sent to the user to clearly prompt the user that the operation requested by the user will require obtaining and using the user's personal information. Thus, the user can autonomously choose whether to provide personal information to software or hardware such as a terminal device, an application program, a server, or a storage medium that performs the operations of the technical solutions of the present disclosure according to the prompt message. As an optional but non-limiting implementation manner, the manner of sending a prompt message to the user in response to receiving an active request from the user may be, for example, in the form of a pop-up window, and the prompt message may be presented in text in the pop-up window. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the terminal device.

[0174] It can be understood that the above process of notifying and obtaining the user's authorization is only illustrative and does not limit the implementation manners of the present disclosure. Other manners that meet relevant laws and regulations can also be applied to the implementation manners of the present disclosure.

[0175] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of data) should comply with the requirements of corresponding laws, regulations and related provisions. The data may include information, parameters, messages, etc., such as shear flow indication information.

[0176] In a first aspect, an embodiment of the present disclosure provides a scenario processing method, and the scenario processing method includes:

[0177] Obtain information of a first point cloud corresponding to a target scenario collected by a terminal device;

[0178] Obtain information of a second point cloud corresponding to the target scenario collected by a target device;

[0179] According to the information of the first point cloud and the information of the second point cloud, determine a target point cloud corresponding to the second point cloud in the first point cloud;

[0180] According to the target point cloud and the second point cloud, determine the scale for constructing the target scenario.

[0181] According to one or more embodiments of the present disclosure, the determining, in the first point cloud, a target point cloud corresponding to the second point cloud according to the information of the first point cloud and the information of the second point cloud includes:

[0182] Determine a first center coordinate of the first point cloud and a second center coordinate of the second point cloud;

[0183] According to the relationship between the points in the first point cloud and the first center coordinate, the relationship between the points in the second point cloud and the second center coordinate, the first center coordinate and the second center coordinate, determine a transformation matrix between the coordinate system for the terminal device to collect the target scenario and the coordinate system for the target device to collect the target scenario;

[0184] According to the transformation matrix, the information of the first point cloud and the information of the second point cloud, determine the target point cloud corresponding to the second point cloud in the first point cloud.

[0185] According to one or more embodiments of the present disclosure, the determining, in the first point cloud, the target point cloud corresponding to the second point cloud according to the transformation matrix, the information of the first point cloud and the information of the second point cloud includes:

[0186] According to the transformation matrix, obtain a third point cloud of the second point cloud in the target scenario collected by the terminal device;

[0187] Determine the target point cloud according to the first point cloud and the third point cloud.

[0188] According to one or more embodiments of the present disclosure, determining the target point cloud based on the first point cloud and the third point cloud includes:

[0189] Constructing an octree based on the third point cloud;

[0190] Determining, based on the first point cloud and the octree, the point cloud in the first point cloud that is closest to the third point cloud as the target point cloud.

[0191] According to one or more embodiments of the present disclosure, determining the scale for constructing the target scene based on the target point cloud and the second point cloud includes:

[0192] Determining at least one first line segment in the target point cloud;

[0193] Determining at least one second line segment in the second point cloud corresponding to the first line segment;

[0194] Determining the scale for constructing the target scene based on the lengths of at least one pair of the first line segment and the second line segment.

[0195] According to one or more embodiments of the present disclosure, the method further includes:

[0196] Performing tetrahedral meshing on the target point cloud to obtain at least one first tetrahedron;

[0197] Performing tetrahedral meshing on the point cloud in the second point cloud corresponding to the target point cloud to obtain at least one second tetrahedron;

[0198] The first line segment is an edge of the first tetrahedron, and the second line segment is an edge of the second tetrahedron.

[0199] According to one or more embodiments of the present disclosure, determining the scale for constructing the target scene based on the lengths of at least one pair of the first line segment and the second line segment includes:

[0200] Determining the scale error between the target scene collected by the terminal device and the target scene collected by the target device based on the length difference between at least one pair of the first line segment and the second line segment;

[0201] Determining the scale for the terminal device to construct the target scene based on the scale error.

[0202] In a second aspect, an embodiment of the present disclosure provides a scene processing device, which includes a first acquisition module, a second acquisition module, a first determination module, and a second determination module, where:

[0203] The first acquisition module is configured to acquire information on the first point cloud corresponding to the target scene collected by the terminal device;

[0204] The second acquisition module is configured to acquire information of a second point cloud corresponding to the target scene collected by the target device;

[0205] The first determination module is configured to determine, in the first point cloud, a target point cloud corresponding to the second point cloud according to the information of the first point cloud and the information of the second point cloud;

[0206] The second determination module is configured to determine a scale for constructing the target scene according to the target point cloud and the second point cloud.

[0207] According to one or more embodiments of the present disclosure, the first determination module is specifically configured to:

[0208] Determine a first center coordinate of the first point cloud and a second center coordinate of the second point cloud;

[0209] According to the relationship between the points in the first point cloud and the first center coordinate, the relationship between the points in the second point cloud and the second center coordinate, the first center coordinate and the second center coordinate, determine a transformation matrix between the coordinate system of the target scene collected by the terminal device and the coordinate system of the target scene collected by the target device;

[0210] According to the transformation matrix, the information of the first point cloud and the information of the second point cloud, determine, in the first point cloud, the target point cloud corresponding to the second point cloud.

[0211] According to one or more embodiments of the present disclosure, the first determination module is specifically configured to:

[0212] According to the transformation matrix, obtain a third point cloud of the second point cloud in the target scene collected by the terminal device;

[0213] Determine the target point cloud according to the first point cloud and the third point cloud.

[0214] According to one or more embodiments of the present disclosure, the first determination module is specifically configured to:

[0215] Construct an octree according to the third point cloud;

[0216] According to the first point cloud and the octree, determine, in the first point cloud, the point cloud with the closest distance to the third point cloud as the target point cloud.

[0217] According to one or more embodiments of the present disclosure, the second determination module is specifically configured to:

[0218] Determine at least one first line segment in the target point cloud;

[0219] Determine at least one second line segment corresponding to the first line segment in the second point cloud;

[0220] Determine the scale for constructing the target scene according to the lengths of at least one pair of the first line segment and the second line segment.

[0221] According to one or more embodiments of the present disclosure, the second determination module is further configured to:

[0222] Perform tetrahedral meshing on the target point cloud to obtain at least one first tetrahedron;

[0223] Perform tetrahedral meshing on the point cloud corresponding to the target point cloud in the second point cloud to obtain at least one second tetrahedron;

[0224] The first line segment is an edge of the first tetrahedron, and the second line segment is an edge of the second tetrahedron.

[0225] According to one or more embodiments of the present disclosure, the second determination module is specifically configured to:

[0226] Determine the scale error between the target scene collected by the terminal device and the target scene collected by the target device according to the length difference of at least one pair of the first line segment and the second line segment;

[0227] Determine the scale of the target scene constructed by the terminal device according to the scale error.

[0228] In a third aspect, an embodiment of the present disclosure provides a terminal device, including: a processor and a memory;

[0229] The memory stores computer-executable instructions;

[0230] The processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the scene processing method as described in the first aspect above and various possible aspects related to the first aspect.

[0231] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, in which computer-executable instructions are stored. When the processor executes the computer-executable instructions, the scene processing method as described in the first aspect above and various possible aspects related to the first aspect is implemented.

[0232] The above description is only a preferred embodiment of the present disclosure and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the present disclosure.

[0233] In addition, although the operations are depicted in a particular order, this should not be construed as requiring that the operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features described in the context of separate embodiments may also be implemented in combination in a single embodiment. Conversely, the various features described in the context of a single embodiment may also be implemented separately or in any suitable sub-combination in multiple embodiments.

[0234] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. On the contrary, the specific features and acts described above are merely example forms for implementing the claims.

Claims

1. A scene processing method, characterized in that, Including: Obtaining information of a first point cloud corresponding to a target scene collected by a terminal device; Obtaining information of a second point cloud corresponding to the target scene collected by a target device; Determining, in the first point cloud, a target point cloud corresponding to the second point cloud according to the information of the first point cloud and the information of the second point cloud; Determining a scale for constructing the target scene according to the target point cloud and the second point cloud.

2. The method according to claim 1, wherein The determining, in the first point cloud, a target point cloud corresponding to the second point cloud according to the information of the first point cloud and the information of the second point cloud includes: Determining a first center coordinate of the first point cloud and a second center coordinate of the second point cloud; Determining a transformation matrix between a coordinate system in which the terminal device collects the target scene and a coordinate system in which the target device collects the target scene according to the relationship between points in the first point cloud and the first center coordinate, the relationship between points in the second point cloud and the second center coordinate, the first center coordinate, and the second center coordinate; Determining, in the first point cloud, the target point cloud corresponding to the second point cloud according to the transformation matrix, the information of the first point cloud, and the information of the second point cloud.

3. The method according to claim 2, wherein The determining, in the first point cloud, the target point cloud corresponding to the second point cloud according to the transformation matrix, the information of the first point cloud, and the information of the second point cloud includes: Obtaining, according to the transformation matrix, a third point cloud of the second point cloud in the target scene collected by the terminal device; Determining the target point cloud according to the first point cloud and the third point cloud.

4. The method according to claim 3, wherein The determining the target point cloud according to the first point cloud and the third point cloud includes: Constructing an octree according to the third point cloud; Determining, in the first point cloud, a point cloud with the shortest distance to the third point cloud as the target point cloud according to the first point cloud and the octree.

5. The method according to any one of claims 1 to 4, characterized in that, The determining a scale for constructing the target scene according to the target point cloud and the second point cloud includes: Determining at least one first line segment in the target point cloud; Determining at least one second line segment in the second point cloud corresponding to the first line segment; Determining a scale for constructing the target scene according to the lengths of at least one pair of the first line segment and the second line segment.

6. The method according to claim 5, characterized in that The method further includes: Performing tetrahedral meshing on the target point cloud to obtain at least one first tetrahedron; Performing tetrahedral meshing on the point cloud in the second point cloud corresponding to the target point cloud to obtain at least one second tetrahedron; The first line segment is an edge of the first tetrahedron, and the second line segment is an edge of the second tetrahedron.

7. The method according to claim 5, characterized in that, The determining a scale for constructing the target scene according to the lengths of at least one pair of the first line segment and the second line segment includes: Determining a scale error between the target scene collected by the terminal device and the target scene collected by the target device according to the length difference between at least one pair of the first line segment and the second line segment; Determining a scale for the terminal device to construct the target scene according to the scale error.

8. A scene processing device, characterized in that, Including a first obtaining module, a second obtaining module, a first determining module, and a second determining module, where: The first acquisition module is configured to acquire information of a first point cloud corresponding to a target scene collected by a terminal device; The second acquisition module is configured to acquire information of a second point cloud corresponding to the target scene collected by a target device; The first determination module is configured to determine, in the first point cloud, a target point cloud corresponding to the second point cloud according to the information of the first point cloud and the information of the second point cloud; The second determination module is configured to determine a scale for constructing the target scene according to the target point cloud and the second point cloud.

9. A terminal device, characterized in that, Comprising: A processor and a memory; The memory stores computer execution instructions; The processor executes the computer execution instructions stored in the memory, so that the processor executes the scene processing method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, Computer execution instructions are stored in the computer-readable storage medium, and when the processor executes the computer execution instructions, the scene processing method according to any one of claims 1-7 is implemented.

Images