Shielding display method and device and terminal equipment

Abstract

The invention is suitable for the technical field of Internet, and provides a shielding display method and device and terminal equipment, which can accurately display the shielding relationship between objects by performing transparency processing on entity objects which form shielding for other entity objects in a three-dimensional model of a traffic road scene, thereby improving the display accuracy of the objects. Therefore, the problem of shielding between the objects is effectively solved, a user can see the shielded entity object, the display effect of the shielded observation area can be adjusted according to the shielding relation of the objects, and the accuracy and authenticity of shielding relation display are further enhanced.

Description

Technical Field

[0001] This application belongs to the technical field of traffic road recognition, and particularly relates to an occlusion display method, device, and terminal device. Background Art

[0002] How to accurately display the occlusion relationship between objects in a traffic road scenario is a key technical problem. Traditional two-dimensional display technologies cannot solve this problem because they cannot provide a true sense of three-dimensionality and depth. Therefore, how to accurately display the occlusion relationship between objects remains a challenge. Summary of the Invention

[0003] The purpose of this application is to provide an occlusion display method, device, and terminal device to accurately display the occlusion relationship between objects.

[0004] The first aspect of this application provides an occlusion display method, including:

[0005] Build a three-dimensional model of a traffic road scenario; the three-dimensional model includes a normal observation area and an occlusion observation area; the normal observation area is the area where all entity objects in the traffic road scenario are not occluded, and the occlusion observation area is the area where there are occluded entity objects in the traffic road scenario, and the entity object is an object with a spatial entity in the traffic road scenario;

[0006] Based on the first entity object and the second entity object in the occlusion observation area, comprehensively obtain a transparent display object with adjustable transparency. The first entity object is the occluded entity object in the occlusion observation area, the second entity object is the entity object that occludes the first entity object, and the transparent display object is the object after adjusting the transparency of the second entity object.

[0007] In an optional embodiment, the step of comprehensively obtaining a transparent display object with adjustable transparency based on the first entity object and the second entity object in the occlusion observation area includes:

[0008] Establish a transparency control material parameter set for the occlusion observation area; the transparency control material parameter set for the occlusion observation area is used to obtain the transparent three-dimensional material parameters of the entity object according to the three-dimensional material parameters of the entity object;

[0009] Based on the transparency control material parameter set for the occlusion observation area and the second entity object, obtain a transparent display object with adjustable transparency.

[0010] In an optional embodiment, the step of building a three-dimensional model of a traffic road scenario includes:

[0011] Based on the three-dimensional scan data of the traffic road scene, obtain the point-line-plane structure of the section to be displayed;

[0012] Based on the point-line-plane structure, comprehensively obtain the three-dimensional model.

[0013] In an alternative embodiment, the establishing of the transparency control material parameter set for the occlusion observation area includes:

[0014] Create a material instance, which is used for the transparent perception of the occlusion observation area;

[0015] Based on the material instance, comprehensively obtain the transparency control material parameter set for the occlusion observation area.

[0016] In an alternative embodiment, the entity object includes plants, tunnels, buildings or mountains.

[0017] In an alternative embodiment, the occlusion display method further includes:

[0018] During the process of setting the transparency control material parameter set for the occlusion observation area in the material instance, remove the depth information of the occlusion observation area, so that the occlusion observation area can correctly display the transparent effect from any perspective.

[0019] In an alternative embodiment, the occlusion display method further includes:

[0020] Based on the occlusion detection algorithm and the depth information of all entity objects, determine the first entity object and the second entity object;

[0021] Based on the areas where the first entity object and the second entity object are located, determine the occlusion observation area and the normal observation area.

[0022] An embodiment of the second aspect of the present application provides an occlusion display device, including:

[0023] A model building module that builds a three-dimensional model of a traffic road scene; the three-dimensional model includes a normal observation area and an occlusion observation area; the normal observation area is the area where all entity objects in the traffic road scene are not occluded, and the occlusion observation area is the area where there are occluded entity objects in the traffic road scene, and the entity object is an object with a spatial entity in the traffic road scene;

[0024] An occlusion display module that comprehensively obtains a transparent display object with adjustable transparency according to the first entity object and the second entity object in the occlusion observation area, where the first entity object is the occluded entity object in the occlusion observation area, the second entity object is the entity object that occludes the first entity object, and the transparent display object is the object after adjusting the transparency of the second entity object.

[0025] The third aspect of the embodiments of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the occlusion display method described in the first aspect above is implemented.

[0026] The fourth aspect of the embodiments of the present application provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the occlusion display method described in the first aspect above is implemented.

[0027] The fifth aspect of the embodiments of the present application provides a computer program product, and when the computer program product runs on a terminal device, the terminal device is enabled to execute the occlusion display method described in the first aspect above.

[0028] Beneficial effects of this application

[0029] In the present application, a three-dimensional model is built. By making the entity objects that occlude other entity objects in the three-dimensional model of the traffic road scene transparent, the occlusion relationship between objects can be accurately displayed, the occlusion problem between objects can be effectively solved, enabling the user to see the occluded entity objects, and the display effect of the occlusion observation area can be adjusted according to the occlusion relationship between objects, further enhancing the accuracy and authenticity of the occlusion relationship display. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 One of the flowcharts of an occlusion display method provided by an embodiment of the present application;

[0032] Figure 2 One of the virtual scene simulation diagrams provided by an embodiment of the present application;

[0033] Figure 3 One of the processing effect diagrams provided by an embodiment of the present application;

[0034] Figure 4 One of the virtual scene simulation diagrams provided by an embodiment of the present application;

[0035] Figure 5 One of the processing effect diagrams provided by an embodiment of the present application;

[0036] Figure 6 This is the third scene simulation diagram provided by the embodiments of the present application;

[0037] Figure 7 This is the third processing effect diagram provided by the embodiments of the present application;

[0038] Figure 8 This is the second flowchart of an occlusion display method provided by the embodiments of the present application;

[0039] Figure 9 This is the third flowchart of an occlusion display method provided by the embodiments of the present application;

[0040] Figure 10 This is the structural schematic diagram of an occlusion display device provided by the embodiments of the present application;

[0041] Figure 11 This is the structural schematic diagram of a terminal device provided by the embodiments of the present application. Detailed implementation manners

[0042] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system architectures and technologies are set forth in order to provide a thorough understanding of the embodiments of the present application. However, those skilled in the art should understand that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary details.

[0043] It should be understood that when used in the specification of the present application and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0044] It should also be understood that the term "and / or" as used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0045] As used in the specification of the present application and the appended claims, the term "if" may be interpreted as "when" or "once" or "in response to determining" or "in response to detecting" according to the context. Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted as meaning "once determined" or "in response to determining" or "once detected [the described condition or event]" or "in response to detecting [the described condition or event]" according to the context.

[0046] In addition, in the description of the specification and the appended claims of the present application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0047] The reference to "one embodiment" or "some embodiments" etc. described in the specification of the present application means that in one or more embodiments of the present application, specific features, structures or characteristics described in connection with that embodiment are included. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in another way.

[0048] It should be understood that the magnitudes of the sequence numbers of the steps in this embodiment do not mean the order of execution is prior or subsequent. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0049] With the rapid development of technology, 3D simulation technology has been applied to multiple fields, such as virtual reality, augmented reality, and game development, etc. In these fields, accurately displaying the occlusion relationship between objects is of crucial importance because it directly relates to whether users can obtain a real and immersive experience. However, traditional 2D display technology cannot meet this requirement due to the lack of real three-dimensional sense and depth sense.

[0050] To solve this problem, researchers have proposed various methods, such as occlusion detection based on depth maps and occlusion detection based on lighting. However, these methods still have problems of misjudgment and missed judgment when dealing with complex occlusion relationships. Therefore, how to accurately display the occlusion relationship between objects remains a challenging problem. In this regard, the present application provides an occlusion display method.

[0051] To illustrate the technical solution of the present application, the following will be described through specific embodiments.

[0052] Figure 1 The flowchart of an occlusion display method provided by an embodiment of the present application is shown.

[0053] Referring to Figure 1 , an occlusion display method provided by an embodiment of the present application includes the following steps:

[0054] Step S1: Build a 3D model of a traffic road scene; the 3D model includes a normal observation area and an occluded observation area; the normal observation area is the area where all entity objects in the traffic road scene are not occluded, and the occluded observation area is the area where there are occluded entity objects in the traffic road scene. The entity objects are objects with spatial entities in the traffic road scene.

[0055] Step S2: Based on the first entity object and the second entity object in the occluded observation area, comprehensively obtain a transparent display object with adjustable transparency. The first entity object is the occluded entity object in the occluded observation area, the second entity object is the entity object that occludes the first entity object, and the transparent display object is the object after adjusting the transparency of the second entity object.

[0056] Among them, the simulation environment is a virtual environment that simulates the real environment and is used to simulate and display various objects and scenes; the 3D model is a model created based on the 3D scan data of the traffic road scene and can accurately reflect the shape and position of the objects.

[0057] In the above embodiment, by building a 3D model and making the entity objects that occlude other entity objects in the 3D model of the traffic road scene transparent, the occlusion relationship between objects can be accurately displayed, effectively solving the occlusion problem between objects, enabling the user to see the occluded entity objects, and being able to adjust the display effect of the occluded observation area according to the occlusion relationship between objects, further enhancing the accuracy and authenticity of the occlusion relationship display.

[0058] In the implementable embodiments of the present application, the entity objects refer to all objects with entities in the traffic road scene, such as plants, tunnels, buildings, or mountains, etc. In the traffic road scene, the present application defines the first entity object as the occluded entity object in the occluded observation area, the second entity object as the entity object that occludes the first entity object, and the transparent display object as the object after adjusting the transparency of the second entity object. The second entity object is the entity object that makes other entity objects unobservable. For example, a tunnel belongs to the second entity object, and the tunnel will occlude the scene inside the tunnel. At this time, the entity objects inside the tunnel are the first entity objects, and the transparent display object is a virtual object obtained by making the second entity object transparent. It should be noted that the transparent display object and the second entity object represent the same object, and the only difference is that the transparency of the transparent display object is adjustable.

[0059] The following embodiments will detail the detailed process of the transparency processing, and will not elaborate here too much.

[0060] It should be noted that the occluded observation area is the area where there are physical objects blocking, that is, the area containing the first physical object and the second physical object. The physical objects included in the normal observation area are all unoccluded physical objects, that is, neither the first physical object nor the second physical object is included. The first physical object and the second physical object of the present application are the unique physical objects in the occluded observation area. The normal observation area also includes multiple physical objects, but due to the absence of occlusion relationships, the physical objects included in the normal observation area are unoccluded physical objects.

[0061] Exemplarily, when the occluder is a plant, such as Figure 2 shown, the third physical object is a road section, and part of the road image is blocked by the occluding object, the tree. Correspondingly, the processing effect that can be achieved by the entity through the above steps of the present application is as Figure 3 shown.

[0062] Exemplarily, when the occluder is a mountain, such as Figure 4 shown, the physical object is a tunnel road section, and part of the road image is blocked by the occluding object, the mountain. Correspondingly, the processing effect that can be achieved through the above steps of the present application is as Figure 5 shown.

[0063] Exemplarily, when the occluder is a building, such as Figure 6 shown, the physical object is a road section, and part of the road image is blocked by the occluding object, the building. Correspondingly, the processing effect that can be achieved through the above steps of the present application is as Figure 7 shown.

[0064] The following gives a detailed explanation of step S1.

[0065] Referring to Figure 8 , in step S1, building a three-dimensional model of a traffic road scene may specifically include the following steps:

[0066] Step A1: Obtain the point-line-plane structure of the section to be displayed according to the three-dimensional scan data of the traffic road scene;

[0067] Step A2: Synthesize the three-dimensional model according to the point-line-plane structure.

[0068] Among them, the three-dimensional scanning data of the traffic road scene is mainly obtained through lidar. The lidar in this application is an optoelectronic detection system that detects characteristic quantities such as the position, speed, and attitude of an entity object by emitting laser beams, emits laser beams towards the entity object, and then receives the echo signals reflected from the entity object. By calculating the time difference between transmission and reception, the distance to the entity object can be determined. At the same time, by analyzing the intensity and waveform of the echo signals, information such as the surface morphology and material of the entity object can also be obtained. The types of lidar can be divided into mechanical lidar and solid-state lidar according to the way of emitting laser beams. The mechanical lidar emits laser beams by rotating the lens or mirror to scan the surrounding environment, and the solid-state lidar emits and receives laser beams by using a fixed transmitter and receiver array, which has the advantages of small volume and low cost. The lidar adopted in this application is not limited to one of the above two types of lidar.

[0069] The three-dimensional scanning data can also be obtained by taking pictures with a camera. The target, background, occluder, etc. are identified through target recognition algorithms or occlusion recognition algorithms, which will not be elaborated in this application.

[0070] Exemplarily, the point cloud data of the traffic road scene is extracted from the three-dimensional scanning data obtained by the lidar. These point cloud data describe the surface geometry, structure, and size of each object in the traffic road scene. After that, through a series of data processing steps (such as point cloud filtering, data aggregation, etc.), these point cloud data are transformed into a more concise and easier-to-process form, that is, the point-line-plane structure. In this process, some details or noises can be selectively ignored according to needs to simplify the data and reduce the complexity of modeling; then, a three-dimensional model is built based on the point-line-plane structure, that is, geometric shapes (such as triangles, line segments, etc.), texture mapping (mapping real-world photos or images to the surface of the model), and other possible details (such as lighting, shadows, etc.) are constructed according to the point-line-plane structure to restore the real-world scene as much as possible, including the size, shape, position of the objects, and the occlusion relationship between them.

[0071] Through the above steps, a three-dimensional model describing the traffic road scene is generated. Through this model, the geometric shapes, structures, and sizes of each object in the scene, as well as the occlusion relationship between the objects, can be accurately reflected, providing a basis for subsequent occlusion display.

[0072] The following will explain step S2 in detail.

[0073] As a possible embodiment, step S2 may specifically include:

[0074] Step B1: Establish a transparency control material parameter set for the occluded observation area; the transparency control material parameter set for the occluded observation area is used to obtain the transparent three-dimensional material parameters of the entity object according to the three-dimensional material parameters of the entity object;

[0075] Step B2: Obtain a transparent display object with adjustable transparency according to the transparency control material parameter set for the occluded observation area and the second entity object.

[0076] Exemplarily, material parameters can be set, such as setting the color, transparency, texture, etc. of the material. These parameters are mainly used to control the display effect of the object; the set material parameters are integrated into the transparency control material parameter set for the occluded observation area to facilitate the subsequent production of a material display control. Taking this parameter set as the input of the control, its visual performance is driven. Specifically, the set transparency control material parameter set for the occluded observation area can be bound to a preset display control through the binding mechanism of the computer, that is, the material parameters are associated with the attributes or components of the display control to ensure that the changes in the material parameters can be reflected in the display control in real time. For example, when the transparency of the occluded observation area changes, the display control can update its visual representation accordingly.

[0077] Specifically, the transparency parameter can be bound to the function switch control button in the program, so that the user can dynamically adjust the transparency of the occluded observation area by operating the button.

[0078] Through the above steps, a transparency control material parameter set for the occluded observation area is established and bound to a preset display control, thereby producing a material display control with the function of identifying object occlusion.

[0079] In an implementable embodiment, referring to Figure 9 , Step B1 may specifically include the following steps:

[0080] Step C1: Create a material instance, and the material instance is used for the transparent perception of the occluded observation area;

[0081] Step C2: Comprehensively obtain a transparency control material parameter set for the occluded observation area according to the material instance.

[0082] Exemplarily, a material instance can be created. The material instance is used for the transparent perception of the occluded observation area, providing a basis for subsequent controlling the transparency degree of the occluded observation area. The material instance can be used for any object that requires a similar effect, enabling each object to be displayed in a transparent manner under specific circumstances;

[0083] In the created material instance, set the occlusion observation area transparency control material parameter set, which is used to control the transparency of the occlusion observation area. These parameters may include color, texture, transparency, etc., and will directly affect the visual performance of the occlusion observation area. By adjusting each parameter, the appearance of the occlusion observation area can be changed so that it is displayed in different ways under different conditions;

[0084] To form a control button, the present application can write the logic for detecting the occlusion observation area, which is used to determine when the occlusion observation area transparency control material parameter set should be applied to this area. This involves responding to specific events. For example, when an object moves in front of another object, when these events are detected, the logic will automatically apply the occlusion observation area transparency control material parameter set to the corresponding occlusion observation area. By writing and applying the logic for detecting the occlusion observation area, the dynamic change of the transparency of the occlusion observation area is achieved.

[0085] In the embodiment of the present application, the occlusion display method further includes:

[0086] Determine the first entity object and the second entity object according to the occlusion detection algorithm and the depth information of all entity objects;

[0087] Determine the occlusion observation area and the normal observation area according to the areas where the first entity object and the second entity object are located.

[0088] The occlusion detection algorithm in the embodiment of the present application is a technology for identifying whether there are occluders in an image. Computer vision and image processing technologies can be used to analyze the pixels and features in the image to determine whether there are occluders. For example, the occlusion detection algorithm of the present application is a deep learning-based method. It uses a convolutional neural network (CNN) to learn the features in the image and identify occluders. Under the training of a large amount of training data, different types of occluders can be accurately identified. Or, the occlusion detection algorithm can be a feature matching-based method, which uses feature points and descriptors in the image to compare the similarity between different parts to determine whether there is occlusion. Further, in the embodiment of the present application, the occlusion display function can also be implemented based on technologies such as optical flow, depth information, and object edges.

[0089] Exemplarily, depth information is obtained from three-dimensional scan data. The occlusion detection algorithm can determine which objects occlude other objects based on the depth information, which involves comparing the distances between objects and analyzing the light ray paths, etc. Correspondingly, the above-mentioned logic for detecting the occlusion observation area needs to be configured, specifically involving setting specific nodes and parameters to process the logic for detecting the occlusion observation area. The above nodes may involve conditional judgments, numerical comparisons, etc., and the above parameters may involve depth thresholds, occlusion thresholds, etc., to control the accuracy and effect of occlusion detection.

[0090] By combining the depth information and the occlusion detection algorithm as described above, configuring the logic for detecting the occlusion observation area can accurately determine the occlusion relationship, achieve dynamic occlusion effects and depth-level transparency control, optimize the rendering performance, and enhance the user experience.

[0091] In other embodiments that can be implemented in the present application, step S2 may specifically further include: during the process of setting the occlusion observation area transparency control material parameter set in the material instance, removing the depth information of the occlusion observation area so that the occlusion observation area can correctly display the transparent effect from any perspective.

[0092] Among them, disabling the depth test is an option to turn off the depth test during the computer graphics rendering process. The depth test is a technique for comparing the depth values of each pixel during the rendering process, used to determine which pixels should be drawn on the foreground object and which should be drawn on the background object. By setting the depth test to be disabled as described above, the occlusion observation area can correctly display the transparent effect from any perspective, improving the user experience, and can also reduce unnecessary rendering calculations and optimize the rendering performance.

[0093] Through the method of material editing and parameter setting in the above embodiments of the present application, intelligent perception of any occlusion observation area is achieved. Only the occlusion observation area will have a transparent effect, and the transparency degree of the occlusion observation area is controllable and adjustable. The occlusion observation area is also not restricted by any perspective.

[0094] It should be noted that the occlusion display method of the present application can be configured on the in-vehicle device, mobile device, and server side. Specifically, in one embodiment of the present application, an in-vehicle device is provided. The in-vehicle device includes an in-vehicle housing, a display screen, a processor, and a memory. The occlusion display method provided by the present application is stored in the memory and can be displayed and controlled on the display screen. In this way, by transparently processing the entity objects that occlude other entity objects in the three-dimensional model of the traffic road scene, the occlusion relationship between objects can be accurately displayed, effectively solving the occlusion problem between objects, enabling the user to see the occluded entity objects, and being able to adjust the display effect of the occlusion observation area according to the occlusion relationship between objects, further enhancing the accuracy and authenticity of the occlusion relationship display.

[0095] For the server and the mobile terminal, the specific implementation of this application is similar to that of the in-vehicle device, and this application will not elaborate on it too much.

[0096] Figure 10 FIG. is a schematic structural diagram of an occlusion display device provided by an embodiment of this application. For the sake of convenience of description, only the parts related to the embodiment of this application are shown.

[0097] The occlusion display device may specifically include the following modules:

[0098] A model building module M1 that builds a three-dimensional model of a traffic road scene; the three-dimensional model includes a normal observation area and an occlusion observation area; the normal observation area is the area where all entity objects in the traffic road scene are not occluded, and the occlusion observation area is the area where there are occluded entity objects in the traffic road scene, and the entity object is an object with a spatial entity in the traffic road scene;

[0099] An occlusion display module M2 that comprehensively obtains a transparent display object with adjustable transparency according to a first entity object and a second entity object in the occlusion observation area, where the first entity object is an occluded entity object in the occlusion observation area, the second entity object is the entity object that occludes the first entity object, and the transparent display object is the object after adjusting the transparency of the second entity object.

[0100] Building a three-dimensional model highly similar to the real scene in the processing module M1 above is convenient for restoring the objects and occlusion relationships in the real scene, providing a basis for subsequent occlusion display; adjusting the transparency of the occlusion observation area through the adjustment module M2 to display the occluded entity objects in the occlusion observation area, and the user can adjust the transparency of the occlusion observation area according to their own needs, so as to better observe the objects and occlusion relationships in the scene and obtain a more personalized visual experience.

[0101] In summary, an occlusion display device provided by an embodiment of this application can accurately display the occlusion relationships between objects through the collaborative work of multiple modules, providing strong support for applications in fields such as virtual reality and augmented reality.

[0102] Figure 11 FIG. is a schematic structural diagram of a terminal device provided by an embodiment of this application. The terminal device E1 includes: at least one processor E2 ( Figure 11 only one is shown in the figure), a processor, a memory E3, and a computer program E4 stored in the memory E3 and executable on the at least one processor E2. When the processor E2 executes the computer program E4, the steps in the above method embodiment are implemented.

[0103] The terminal device E1 can be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal device may include, but is not limited to, a processor E2 and a memory E3. Those skilled in the art can understand that Figure 11 merely examples of the terminal device E1, which do not constitute a limitation on the terminal device E1, may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0104] The so-called processor E2 may be a central processing unit (CPU), and the processor E2 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0105] The memory E3 may be an internal storage unit of the terminal device E1 in some embodiments, such as the hard disk or memory of the terminal device E1. The memory E3 may also be an external storage device of the terminal device E1 in other embodiments, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the terminal device E1. Further, the memory E3 may also include both the internal storage unit and the external storage device of the terminal device E1. The memory E3 is used to store an operating system, application programs, a boot loader, data, and other programs, such as the program code of the computer program, etc. The memory E3 may also be used to temporarily store data that has been output or is to be output.

[0106] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0107] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0108] The embodiments of the present application provide a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented.

[0109] The embodiments of the present application provide a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can be enabled to execute the steps in the foregoing method embodiments.

[0110] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0111] In the embodiments provided in the present application, it should be understood that the disclosed apparatus / network device and method can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0112] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0113] In addition, each functional unit in the various embodiments of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above units can be implemented in the form of hardware or software.

[0114] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above method embodiments of the present application, it can also be completed by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0115] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included within the protection scope of the present application.

Claims

1. An occlusion display method, characterized in that, Including: Constructing a three-dimensional model of a traffic road scene; the three-dimensional model includes a normal observation area and an occluded observation area; The normal observation area is the area where all entity objects in the traffic road scene are not occluded, and the occluded observation area is the area where there are occluded entity objects in the traffic road scene. The entity object is an object with a spatial entity in the traffic road scene; Based on the first entity object and the second entity object in the occluded observation area, comprehensively obtaining a transparent display object with adjustable transparency. The first entity object is the occluded entity object in the occluded observation area, the second entity object is the entity object that occludes the first entity object, and the transparent display object is the object after adjusting the transparency of the second entity object.

2. The occlusion display method according to claim 1, wherein The step of comprehensively obtaining a transparent display object with adjustable transparency based on the first entity object and the second entity object in the occluded observation area includes: Establishing a transparency control material parameter set for the occluded observation area; the transparency control material parameter set for the occluded observation area is used to obtain the transparent three-dimensional material parameters of the entity object according to the three-dimensional material parameters of the entity object; Based on the transparency control material parameter set for the occluded observation area and the second entity object, obtaining a transparent display object with adjustable transparency.

3. The occlusion display method according to claim 1, wherein The step of constructing a three-dimensional model of a traffic road scene includes: According to the three-dimensional scan data of the traffic road scene, obtaining the point-line-plane structure of the section to be displayed; Based on the point-line-plane structure, comprehensively obtaining the three-dimensional model.

4. The occlusion display method according to claim 2, characterized in that The step of establishing a transparency control material parameter set for the occluded observation area includes: Creating a material instance for transparent perception of the occluded observation area; Based on the material instance, comprehensively obtaining a transparency control material parameter set for the occluded observation area.

5. The occlusion display method according to claim 1, wherein The entity object includes plants, tunnels, buildings or mountains.

6. The occlusion display method according to claim 4, wherein The occlusion display method further includes: During the process of setting the transparency control material parameter set for the occluded observation area in the material instance, removing the depth information of the occluded observation area so that the occluded observation area can correctly display the transparent effect from any perspective.

7. The occlusion display method according to claim 1, wherein The occlusion display method further includes: Based on the occlusion detection algorithm and the depth information of all entity objects, determining the first entity object and the second entity object; Based on the areas where the first entity object and the second entity object are located, determining the occluded observation area and the normal observation area.

8. An occlusion display device, characterized in that, Including: A model construction module for constructing a three-dimensional model of a traffic road scene; the three-dimensional model includes a normal observation area and an occluded observation area; The normal observation area is the area where all entity objects in the traffic road scene are not occluded, and the occluded observation area is the area where there are occluded entity objects in the traffic road scene. The entity object is an object with a spatial entity in the traffic road scene; The occlusion display module comprehensively obtains a transparent display object with adjustable transparency according to the first entity object and the second entity object in the occlusion observation area, where the first entity object is the entity object occluded in the occlusion observation area, the second entity object is the entity object occluding the first entity object, and the transparent display object is the object after adjusting the transparency of the second entity object.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the occlusion display method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the occlusion display method according to any one of claims 1 to 7.

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