Three-dimensional live-action CAD drawing method and device, storage medium and equipment

Abstract

The invention relates to a three-dimensional real scene fused CAD drawing method and device, a storage medium and equipment, and is suitable for the CAD software industry and the engineering industry. The method comprises the steps that a background display window is generated in a background layer of a CAD three-dimensional drawing area, and the background display window directly faces a virtual camera of a CAD three-dimensional drawing environment and is used for displaying a three-dimensional real scene point cloud model of a target scene; acquiring position and direction information of the virtual camera in real time, and generating view content based on the position and direction information of the camera; obtaining a screen coordinate point selected by a user based on the three-dimensional real scene point cloud model in the background display window, and generating a corresponding three-dimensional real scene pickup point in the CAD three-dimensional drawing environment based on the screen coordinate point and the real scene surface triangulation network model in the background display window; and generating a corresponding CAD graph in the CAD three-dimensional drawing environment based on the three-dimensional real scene pickup point in the CAD three-dimensional drawing environment in combination with a pre-selected CAD drawing tool.

Description

Technical Field

[0001] The present invention relates to a CAD drawing method, device, storage medium and equipment integrated with three-dimensional real scenes, and is applicable to the CAD software industry and the engineering industry. Background Art

[0002] Engineering-related industries such as construction, geology, mining, transportation, and municipal engineering operate in vast, open-air spaces and are highly dependent on the support of three-dimensional spatial data. However, for a long time, field information has primarily relied on traditional surveying and mapping methods, conveying spatial information through text, drawings (topographic maps), and video recordings. These methods suffer from numerous deficiencies in authenticity, intuitiveness, accuracy, timeliness, and comprehensiveness, making it difficult to fully restore the true three-dimensional spatial conditions of the site. This severely impacts the efficiency and quality of field-related work, hindering the scientific nature of engineering decisions and the efficiency of their execution. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: to address the above-mentioned problems, a method, device, storage medium and equipment for 3D real-scene CAD drawing are provided.

[0004] The technical solution adopted by the present invention is: a method for 3D real-scene CAD drawing, comprising: S100, generating a background display window in a background layer of a CAD three-dimensional drawing area, the background display window facing a virtual camera of the CAD three-dimensional drawing environment, and being used to display a three-dimensional real-world point cloud model of a target scene; The coordinate system of the 3D real-world point cloud model displayed in the background display window is consistent with the 3D CAD drawing environment coordinate system, and shares a virtual camera; The three-dimensional real-scene point cloud model of the target scene includes a real-scene model and a point cloud model of the target scene, the coordinate systems of the real-scene model and the point cloud model are consistent, and a real-scene surface triangulation model is generated based on the point cloud model of the target scene; S200, acquiring position and direction information of a virtual camera in real time, and generating view content based on the camera position and direction information, wherein the view content includes a background display window and existing CAD graphics in a CAD three-dimensional drawing environment; S300, obtaining a screen coordinate point selected by the user based on the 3D real scene point cloud model in the background display window, and generating a corresponding 3D real scene pick point in the CAD 3D drawing environment based on the screen coordinate point and the real scene surface triangulation model in the background display window; S400: Based on the 3D real scene picking points in the CAD 3D drawing environment, in combination with pre-selected CAD drawing tools, a corresponding CAD drawing is generated in the CAD 3D drawing environment.

[0005] The method of generating corresponding three-dimensional real scene picking points in a CAD three-dimensional drawing environment based on the screen coordinate points and the real scene surface triangulation model in the background display window includes: Based on the position and direction information of the virtual camera, the starting point P0 is determined in the CAD 3D drawing environment; Based on the screen coordinate point and the position and direction information of the virtual camera, calculate its spatial coordinate point P1 in the CAD three-dimensional drawing environment; Determine the ray with P0 as the base point and P0P1 vector as the direction. The intersection of this ray and the real scene surface triangulation model of the target scene in the background display window is the 3D real scene picking point corresponding to the screen coordinate point selected by the user.

[0006] The view content is generated based on the camera position and direction information, and the view content includes a background display window and existing CAD graphics in the CAD three-dimensional drawing environment, including: Based on the position and direction information of the virtual camera, the 3D real-world point cloud model data corresponding to the CAD 3D drawing area is downloaded from the cloud server in real time and rendered into an image displayed in the background display window.

[0007] The view content is generated based on the camera position and direction information, and the view content includes a background display window and a CAD graphic drawn in a CAD three-dimensional drawing environment, including: Based on the spatial position relationship between the real-life surface triangulated network model corresponding to the three-dimensional real-life point cloud model displayed in the background display window and the CAD graphics drawn in the CAD three-dimensional drawing environment, combined with the position and direction information of the virtual camera, it is determined whether the real-life surface triangulated network model covers the CAD graphics, and the uncovered CAD graphics are displayed in the view content.

[0008] The method of generating corresponding CAD graphics in the CAD 3D drawing environment by picking up points from a 3D real scene in the CAD 3D drawing environment and combining preselected CAD drawing tools includes: Based on the 3D real scene picking points, combined with the graphics generation rules corresponding to the pre-selected CAD drawing tool, the corresponding CAD graphics are generated.

[0009] The background display window can adjust the shape, size, and position of the window on the view based on the user's window operation request.

[0010] The background display window can be opened or closed in the CAD three-dimensional drawing area based on a user's window operation request.

[0011] A three-dimensional real-scene CAD drawing device, comprising: A drawing environment construction module is used to generate a background display window in the background layer of the CAD three-dimensional drawing area, the background display window facing the virtual camera of the CAD three-dimensional drawing environment, and used to display the three-dimensional real-world point cloud model of the target scene; The coordinate system of the 3D real-world point cloud model displayed in the background display window is consistent with the 3D CAD drawing environment coordinate system, and shares a virtual camera; The three-dimensional real-scene point cloud model of the target scene includes a real-scene model and a point cloud model of the target scene, the coordinate systems of the real-scene model and the point cloud model are consistent, and a real-scene surface triangulation model is generated based on the point cloud model of the target scene; The camera imaging module is used to obtain the position and direction information of the virtual camera in real time and generate view content based on the camera position and direction information. The view content includes the background display window and the existing CAD graphics in the CAD 3D drawing environment. A picking point generation module is used to obtain the screen coordinate point selected by the user based on the 3D real scene point cloud model in the background display window, and generate the corresponding 3D real scene picking point in the CAD 3D drawing environment based on the screen coordinate point and the real scene surface triangulation model in the background display window; The CAD drawing module is used to generate corresponding CAD graphics in the CAD 3D drawing environment based on the 3D real scene picking points in the CAD 3D drawing environment and combining pre-selected CAD drawing tools.

[0012] A storage medium stores a computer program that can be executed by a processor, and the computer program implements the three-dimensional real-scene CAD drawing method when executed.

[0013] A CAD drawing device comprises a memory and a processor. The memory stores a computer program that can be executed by the processor. When the computer program is executed, the method of three-dimensional real-scene CAD drawing is realized.

[0014] The beneficial effects of the present invention are as follows: the present invention integrates the 3D real-life point cloud model into the CAD 3D drawing environment through the background display window, unifies the coordinate systems of the two, and shares a virtual camera, so that the 3D real-life point cloud model content and the CAD 3D drawing environment content can be synchronously obtained through the virtual camera, view content is generated, and the view content is displayed on the screen. The user can select the required point based on the observation of the 3D real-life point cloud model on the screen, and determine the 3D real-life picking point in the CAD 3D drawing environment based on the screen coordinates of the selected point combined with the real-life surface triangulation model, thereby completing the drawing based on the 3D real-life picking point.

[0015] The present invention only needs to collect three-dimensional real-scene images and point cloud data at the target project site. The three-dimensional real-scene images retain the image features of the target project, and the point cloud data retains the spatial features of the target project. Therefore, the CAD drawing work of the target project can be completed quickly and accurately through the software, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flowchart of an embodiment. DETAILED DESCRIPTION

[0017] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and are not to be construed as limiting the present invention. The step numbers in the following embodiments are provided for ease of explanation only and do not limit the order of the steps. The order of execution of the steps in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0018] In the description of the present invention, "a plurality" means two or more. The terms "first" and "second" are used solely to distinguish technical features and are not to be construed as indicating or implying relative importance, or as implicitly indicating the number of the indicated technical features, or as implicitly indicating the order of the indicated technical features. Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art.

[0019] 3D Reality Modeling (hereinafter referred to as "3D Reality") uses oblique photography, LiDAR, and multi-view image fusion to construct a highly precise, measurable 3D point cloud model of the actual scene, achieving an accurate reproduction of the site. This new VR (Virtual Reality) technology, which has only emerged in the past two years, addresses the long-standing technical challenge in surveying and mapping of integrating realistic visuals with precise spatial information. 3D Reality Modeling collects 360-degree photos of the site and a laser-scanned spatial point cloud, then uses a computer to organically integrate the two to construct a 3D point cloud model of the actual scene that integrates 3D space and real-world visuals. This allows for precise verification of the site into a networked digital twin, helping to improve project efficiency and quality. It offers a level of visual realism and accuracy that is difficult to achieve with oblique photography 3D Reality.

[0020] CAD (Computer Aided Design) has been widely used in various fields such as architecture, electronics, electrical engineering, scientific research, machinery, clothing, geology, etc., and is an indispensable tool for engineers.

[0021] Example 1: Figure 1 As shown, this embodiment is a method for 3D real-scene CAD drawing, which specifically includes the following steps: S100: Generate a background display window in a background layer of a CAD 3D drawing area. The background display window faces a virtual camera of the CAD 3D drawing environment and is used to display a 3D real-world point cloud model of a target scene.

[0022] In this embodiment, the background display window can adjust the shape, size, and position of the window on the view based on the user's window operation request. For example, the background display window can be adjusted to cover the entire camera imaging area of ​​the virtual camera, or the background display window can be adjusted to cover part of the camera imaging area.

[0023] In this example, the background display window can be opened or closed in the CAD 3D drawing area based on the user's window operation request.

[0024] In this embodiment, the coordinate system of the 3D real-world point cloud model displayed through the background display window is consistent with the coordinate system of the 3D CAD drawing environment, and shares a virtual camera to ensure consistency of view display operations.

[0025] In this embodiment, the universal laser real-scene scanning device collects a three-dimensional real-scene point cloud model of the target scene. The model includes a high-definition three-dimensional real-scene image and point cloud data of the target scene. The coordinate systems of the real-scene model and the point cloud model are consistent.

[0026] In this example, the 3D real-world point cloud model is stored on a cloud server and used as a web service for CAD drawing. Local users only need to download the corresponding view content from the cloud server based on the virtual camera's position and orientation. The high-performance cloud server then generates the image, improving imaging efficiency and reducing local hardware and software requirements, making it more accessible.

[0027] In this example, a real-scene surface triangulated mesh model of the target scene is generated based on the point cloud model of the target scene. The real-scene surface triangulated mesh model is not displayed and is merged with the real-scene model.

[0028] In this example, the CAD 3D drawing area is generated based on the virtual camera in the CAD 3D drawing environment. The content of the drawing area consists of the CAD 3D drawing environment under the virtual camera's perspective and the 3D real-world point cloud model under the virtual camera's perspective. The image content corresponding to the 3D real-world point cloud model is displayed in the drawing area through the background display window.

[0029] S200 , obtaining position and direction information of a virtual camera in real time, and generating view content based on the camera position and direction information, wherein the view content includes a background display window and existing CAD graphics in a CAD three-dimensional drawing environment.

[0030] In this embodiment, the user can adjust the position and direction of the virtual camera through a mouse, keyboard, etc. to achieve rotation, translation, and zooming of the screen display content.

[0031] In this embodiment, based on the position and direction information of the virtual camera, the three-dimensional real-world point cloud model data corresponding to the CAD three-dimensional drawing area is downloaded from the cloud server in real time, and rendered into a corresponding image and displayed in the background display window.

[0032] In this example, based on the position and direction information of the virtual camera and combined with the existing CAD graphics in the CAD three-dimensional drawing environment, the view content corresponding to the existing CAD graphics is generated.

[0033] Based on the spatial position relationship between the real-life surface triangulated network model corresponding to the 3D real-life point cloud model displayed in the background display window and the existing CAD graphics in the CAD 3D drawing environment, combined with the position and direction information of the virtual camera, with the real-life surface triangulated network model as the boundary, according to the view principle, the part of the CAD graphics covered by the triangulated network model is hidden, and the uncovered CAD graphics are displayed in the view content to restore the visual effect of the spatial relationship between the real-life model and the CAD graphics.

[0034] S300: Obtain the screen coordinate point selected by the user based on the 3D real scene point cloud model in the background display window, and generate the corresponding 3D real scene pickup point in the CAD 3D drawing environment based on the screen coordinate point and the real scene surface triangulation model in the background display window.

[0035] S310, determining a starting point P0 in a CAD three-dimensional drawing environment based on the position and direction information of the virtual camera; S320, calculating the corresponding space coordinate point P1 in the CAD three-dimensional drawing environment based on the screen coordinate point and the position and direction information of the virtual camera; S330, determine a ray with P0 as the base point and P0P1 vector as the direction, and use the intersection of the ray and the triangulated network model of the target scene real scene surface in the background display window as the 3D real scene picking point corresponding to the screen coordinate point selected by the user.

[0036] S400: Based on the 3D real scene picking points in the CAD 3D drawing environment and in combination with the graphic generation rules corresponding to the pre-selected CAD drawing tool, a corresponding CAD graphic is generated in the CAD 3D drawing environment.

[0037] In this embodiment, the user uses CAD drawing tools (such as straight line drawing tools and curve drawing tools) to start drawing, uses real-scene visualization positioning to obtain the coordinates of the points required for drawing, completes the drawing work in the real scene, and improves drawing quality and efficiency.

[0038] In this embodiment, the background display window can be opened and closed at will based on user window operation requests. When the real scene is on, the real scene drawing mode is activated. When the real scene is off, the pure CAD drawing mode, like traditional CAD, is activated. The two modes can be switched at will, combining the advantages of 3D real scene and CAD. Each drawing operation can be completed in pure real scene, pure CAD drawing, or a combination of real scene and CAD drawing mode, switching according to the drawing needs.

[0039] Embodiment 2: This embodiment is a 3D real-scene CAD drawing device, comprising: A drawing environment construction module is used to generate a background display window in the background layer of the CAD three-dimensional drawing area, the background display window facing the virtual camera of the CAD three-dimensional drawing environment, and used to display the three-dimensional real-world point cloud model of the target scene; The coordinate system of the 3D real-world point cloud model displayed in the background display window is consistent with the 3D CAD drawing environment coordinate system, and shares a virtual camera; The three-dimensional real-scene point cloud model of the target scene includes a real-scene model and a point cloud model of the target scene, the coordinate systems of the real-scene model and the point cloud model are consistent, and a real-scene surface triangulation model is generated based on the point cloud model of the target scene; The camera imaging module is used to obtain the position and direction information of the virtual camera in real time and generate view content based on the camera position and direction information. The view content includes the background display window and the existing CAD graphics in the CAD 3D drawing environment. A picking point generation module is used to obtain the screen coordinate point selected by the user based on the 3D real scene point cloud model in the background display window, and generate the corresponding 3D real scene picking point in the CAD 3D drawing environment based on the screen coordinate point and the real scene surface triangulation model in the background display window; The CAD drawing module is used to generate corresponding CAD graphics in the CAD 3D drawing environment based on the 3D real scene picking points in the CAD 3D drawing environment and combining pre-selected CAD drawing tools.

[0040] Embodiment 3: This embodiment is a storage medium on which a computer program that can be executed by a processor is stored. When the computer program is executed, the method for three-dimensional real-scene CAD drawing described in embodiment 1 is implemented.

[0041] Example 4: This example is a CAD drawing device that integrates three-dimensional real scenes, which has a memory and a processor. The memory stores a computer program that can be executed by the processor. When the computer program is executed, the three-dimensional real scene CAD drawing method described in Example 1 is implemented.

[0042] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the above-mentioned functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in separate physical devices or software modules. It is also understood that a detailed discussion of the actual implementation of each module is not necessary for understanding the present invention. More specifically, given the properties, functions, and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the module will be understood within the routine skills of an engineer. Therefore, a person skilled in the art can implement the present invention set forth in the claims using ordinary skills without undue experimentation. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0043] If the above functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or the portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the above methods in various embodiments of the present invention. The aforementioned storage medium includes various media that can store program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0044] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0045] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable media on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other media, and then editing, interpreting, or processing it in another suitable manner as necessary, and then storing it in a computer memory.

[0046] It should be understood that various components of the present invention may be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods may be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof may be used: a discrete logic circuit having logic gate circuits for implementing logic functions on data signals, an application-specific integrated circuit having suitable combinational logic gate circuits, a programmable gate array (PGA), a field-programmable gate array (FPGA), etc.

[0047] In the above description of this specification, reference to the terms "one embodiment / example," "another embodiment / example," or "certain embodiments / examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0048] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

[0049] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A method for 3D real scene CAD drawing, characterized in that: include: S100, generating a background display window in a background layer of a CAD three-dimensional drawing area, the background display window facing a virtual camera of the CAD three-dimensional drawing environment, and being used to display a three-dimensional real-world point cloud model of a target scene; The coordinate system of the 3D real-world point cloud model displayed in the background display window is consistent with the 3D CAD drawing environment coordinate system, and shares a virtual camera; The three-dimensional real-scene point cloud model of the target scene includes a real-scene model and a point cloud model of the target scene, the coordinate systems of the real-scene model and the point cloud model are consistent, and a real-scene surface triangulation model is generated based on the point cloud model of the target scene; S200, acquiring position and direction information of a virtual camera in real time, and generating view content based on the camera position and direction information, wherein the view content includes a background display window and existing CAD graphics in a CAD three-dimensional drawing environment; S300, obtaining a screen coordinate point selected by the user based on the 3D real scene point cloud model in the background display window, and generating a corresponding 3D real scene pick point in the CAD 3D drawing environment based on the screen coordinate point and the real scene surface triangulation model in the background display window; S400: Based on the 3D real scene picking points in the CAD 3D drawing environment, in combination with pre-selected CAD drawing tools, a corresponding CAD drawing is generated in the CAD 3D drawing environment.

2. The method for 3D real-scene CAD drawing according to claim 1, wherein: The method of generating corresponding three-dimensional real scene picking points in a CAD three-dimensional drawing environment based on the screen coordinate points and the real scene surface triangulation model in the background display window includes: Based on the position and direction information of the virtual camera, the starting point P0 is determined in the CAD 3D drawing environment; Based on the screen coordinate point and the position and direction information of the virtual camera, calculate its spatial coordinate point P1 in the CAD three-dimensional drawing environment; Determine the ray with P0 as the base point and P0P1 vector as the direction. The intersection of this ray and the real scene surface triangulation model of the target scene in the background display window is the 3D real scene picking point corresponding to the screen coordinate point selected by the user.

3. The method for 3D real-scene CAD drawing according to claim 1, wherein: The view content is generated based on the camera position and direction information, and the view content includes a background display window and existing CAD graphics in the CAD three-dimensional drawing environment, including: Based on the position and direction information of the virtual camera, the 3D real-world point cloud model data corresponding to the CAD 3D drawing area is downloaded from the cloud server in real time and rendered into an image displayed in the background display window.

4. The method for 3D real scene CAD drawing according to claim 1 or 3, characterized in that: The view content is generated based on the camera position and direction information, and the view content includes a background display window and a CAD graphic drawn in a CAD three-dimensional drawing environment, including: Based on the spatial position relationship between the real-life surface triangulated network model corresponding to the three-dimensional real-life point cloud model displayed in the background display window and the CAD graphics drawn in the CAD three-dimensional drawing environment, combined with the position and direction information of the virtual camera, it is determined whether the real-life surface triangulated network model covers the CAD graphics, and the uncovered CAD graphics are displayed in the view content.

5. The method for 3D real-scene CAD drawing according to claim 1, wherein: The method of generating corresponding CAD graphics in the CAD 3D drawing environment by picking up points from a 3D real scene in the CAD 3D drawing environment and combining preselected CAD drawing tools includes: Based on the 3D real scene picking points, combined with the graphics generation rules corresponding to the pre-selected CAD drawing tool, the corresponding CAD graphics are generated.

6. The method for 3D real-scene CAD drawing according to claim 1, wherein: The background display window can adjust the shape, size, and position of the window on the view based on the user's window operation request.

7. The method for 3D real-scene CAD drawing according to claim 1, wherein: The background display window can be opened or closed in the CAD three-dimensional drawing area based on a user's window operation request.

8. A 3D real-scene CAD drawing device, characterized in that: include: A drawing environment construction module is used to generate a background display window in the background layer of the CAD three-dimensional drawing area, the background display window facing the virtual camera of the CAD three-dimensional drawing environment, and used to display the three-dimensional real-world point cloud model of the target scene; The coordinate system of the 3D real-world point cloud model displayed in the background display window is consistent with the 3D CAD drawing environment coordinate system, and shares a virtual camera; The three-dimensional real-scene point cloud model of the target scene includes a real-scene model and a point cloud model of the target scene, the coordinate systems of the real-scene model and the point cloud model are consistent, and a real-scene surface triangulation model is generated based on the point cloud model of the target scene; The camera imaging module is used to obtain the position and direction information of the virtual camera in real time and generate view content based on the camera position and direction information. The view content includes the background display window and the existing CAD graphics in the CAD 3D drawing environment. A picking point generation module is used to obtain the screen coordinate point selected by the user based on the 3D real scene point cloud model in the background display window, and generate the corresponding 3D real scene picking point in the CAD 3D drawing environment based on the screen coordinate point and the real scene surface triangulation model in the background display window; The CAD drawing module is used to generate corresponding CAD graphics in the CAD 3D drawing environment based on the 3D real scene picking points in the CAD 3D drawing environment and combining pre-selected CAD drawing tools.

9. A storage medium having stored thereon a computer program executable by a processor, characterized in that: When the computer program is executed, the method for three-dimensional real-scene CAD drawing according to any one of claims 1 to 7 is implemented.

10. A CAD drawing device comprising a memory and a processor, wherein the memory stores a computer program executable by the processor, wherein: When the computer program is executed, the method for three-dimensional real-scene CAD drawing according to any one of claims 1 to 7 is implemented.

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