CN110430270B - Carrier data synchronization method and device - Google Patents

Carrier data synchronization method and device Download PDF

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CN110430270B
CN110430270B CN201910731193.0A CN201910731193A CN110430270B CN 110430270 B CN110430270 B CN 110430270B CN 201910731193 A CN201910731193 A CN 201910731193A CN 110430270 B CN110430270 B CN 110430270B
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quaternion
absolute value
position information
vehicle
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CN110430270A (en
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陈科锡
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Netease Hangzhou Network Co Ltd
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    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
    • H03M7/00—Conversion of a code where information is represented by a given sequence or number of digits to a code where the same, similar or subset of information is represented by a different sequence or number of digits
    • H03M7/30—Compression; Expansion; Suppression of unnecessary data, e.g. redundancy reduction
    • H03M7/3059—Digital compression and data reduction techniques where the original information is represented by a subset or similar information, e.g. lossy compression
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
    • H03M7/00—Conversion of a code where information is represented by a given sequence or number of digits to a code where the same, similar or subset of information is represented by a different sequence or number of digits
    • H03M7/30—Compression; Expansion; Suppression of unnecessary data, e.g. redundancy reduction
    • H03M7/70—Type of the data to be coded, other than image and sound
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/10—Protocols in which an application is distributed across nodes in the network
    • H04L67/1095—Replication or mirroring of data, e.g. scheduling or transport for data synchronisation between network nodes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/04—Protocols for data compression, e.g. ROHC

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  • Computer Security & Cryptography (AREA)
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  • Traffic Control Systems (AREA)

Abstract

The embodiment of the invention provides a carrier data synchronization method and a carrier data synchronization device, wherein the method comprises the following steps: acquiring rotation information of a carrier; the rotation information includes a quaternion; compressing the quaternion to obtain an integer unsigned number; the space occupation of integer unsigned numbers is less than that of quaternions; compressed data of the rotation information is transmitted, the compressed data including an integer unsigned number. In the embodiment of the invention, when the synchronization of the carriers is realized, one of the terminals can compress the quaternion in the rotation information of the carriers into the integer unsigned number, and the space occupation of the integer unsigned number is less than that of the quaternion, so that the consumption of flow is less when the integer unsigned number is sent. It can be understood that, when the synchronization of the carriers is realized, the other terminal can decompress the integer unsigned number according to a decompression method suitable for the method for compressing the quaternion, and restore the rotation information of the carriers, thereby realizing the synchronization of the carriers.

Description

Carrier data synchronization method and device
Technical Field
The present invention relates to the field of game technologies, and in particular, to a method and an apparatus for synchronizing carrier data.
Background
With the development of games, the kinds of games are more and more diversified. Vehicles are auxiliary devices for movement and fighting in games, and are used in many games. In the interactive playing method of the carriers, the carriers need to be synchronized, and the synchronization of the carriers specifically can be as follows: the representation (such as movement, rotation, etc.) of the carrier on one client is forwarded to other clients through the server, so that the representation of the carrier of the client can be synchronously seen at other clients. For example, the vehicle may be a ride such as a vehicle.
In the prior art, when carrier data is synchronized, the carrier data occupies a large space, which results in large consumption of traffic due to carrier data synchronization.
Disclosure of Invention
The embodiment of the invention provides a carrier data synchronization method and a carrier data synchronization device, which are used for solving the technical problem of high traffic consumption caused by carrier data synchronization.
A first aspect of an embodiment of the present invention provides a carrier data synchronization method, including:
acquiring rotation information of a carrier; the rotation information comprises a quaternion;
compressing the quaternion to obtain an integer unsigned int number; the space occupation of the unsenged int number is smaller than that of the quaternion;
and sending compressed data of the rotation information, wherein the compressed data comprises the unsenged int number.
Optionally, the compressing the quaternion includes:
compressing the three-bit component after the absolute value sequencing in the four components of the quaternion into the first 30 bits of the unsenged int memory structure; the absolute value sequence is a sequence from large to small according to the absolute value; each component of the three-bit components after the absolute value sorting occupies 10 bits; and the number of the first and second groups,
and compressing the position information of the component with the maximum absolute value in the four components of the quaternion into the last 2 bits of the unsenged int memory structure, wherein the position information is the position of the component with the maximum absolute value in the quaternion.
Optionally, in a case that the component with the largest absolute value is a negative value, compressing the component of the three bits after the absolute value sorting in the four components of the quaternion into the first 30 bits bit of the unsenged int memory structure includes:
and (3) in the four components of the quaternion, inverting the components of three bits after the absolute value sequencing and compressing the components into the first 30 bits of the unsenged int memory structure.
Optionally, the acquiring the rotation information of the vehicle includes:
acquiring a transformation matrix of the carrier;
and acquiring the four digits corresponding to the rotation information according to the transformation matrix.
Optionally, after the obtaining the transformation matrix of the vehicle, the method further includes:
acquiring first position information of the carrier according to the transformation matrix;
and sending the first position information.
Optionally, the vehicle is a vehicle, the vehicle includes a wheel and a frame, the rotation information of the vehicle is rotation information of the wheel, and the first position information is position information of the wheel, the method further includes:
acquiring second position information and an Euler angle of the frame; the second position information is position information of the frame;
and transmitting the second position information and the Euler angle of the frame.
A second aspect of the embodiments of the present invention provides a method for synchronizing carrier data, including:
acquiring compressed data corresponding to rotation information of a carrier; the compressed data comprises integer unsigned int numbers; the unsenced int number is obtained by compressing a quaternion in the rotation information;
and decompressing the unsenged int number to obtain the quaternion.
Optionally, the decompressing the unsenged int number, and obtaining the quaternion includes:
decompressing the first 30 bits of the unsenged int number by taking each 10 bits as a unit to obtain a component of three bits after absolute value sequencing; the three-digit component after the absolute value sorting is the three-digit component after the absolute value sorting from big to small in the four components of the quaternion;
determining the component with the maximum absolute value in the four components of the quaternion according to the components of the three bits after the absolute value sequencing;
decompressing the last 2 bits of the unsenged int number to obtain the position of the component with the maximum absolute value in the quaternion;
and combining the component with the maximum absolute value with the components of three bits after the absolute value is sequenced according to the position of the component with the maximum absolute value in the quaternion to obtain the quaternion.
Optionally, the method further includes:
acquiring first position information of the carrier;
and obtaining a transformation matrix of the carrier according to the first position information and the quaternion.
Optionally, the vehicle is a vehicle, the vehicle includes a wheel and a frame, the rotation information of the vehicle is rotation information of the wheel, and the first position information is position information of the wheel, the method further includes:
acquiring second position information and an Euler angle of the frame; the second position information is position information of the vehicle frame.
A third aspect of the embodiments of the present invention provides a synchronization apparatus for vehicle data, including:
the quaternion acquisition module is used for acquiring the rotation information of the carrier; the rotation information comprises a quaternion;
the compression module is used for compressing the quaternion to obtain an integer unsigned int number; the space occupation of the unsenged int number is smaller than that of the quaternion;
a first sending module, configured to send compressed data of the rotation information, where the compressed data includes the unsenged int number.
Optionally, the compression module includes:
the compression submodule is used for compressing the components of three bits after the absolute value is sequenced in the four components of the quaternion into the first 30 bits of the unsenged int memory structure; the absolute value sequence is a sequence from large to small according to the absolute value; each component of the three-bit components after the absolute value sorting occupies 10 bits; and compressing the position information of the component with the maximum absolute value in the four components of the quaternion into the last 2 bits of the unsenged int memory structure, wherein the position information is the position of the component with the maximum absolute value in the quaternion.
Optionally, in a case that the component with the largest absolute value is a negative value, the compression submodule includes:
and the compression unit is used for inverting and compressing the three-bit component after the absolute value is sequenced in the four components of the quaternion into the first 30 bits of the unsenged int memory structure.
Optionally, the quaternion obtaining module includes:
a quaternion obtaining submodule for obtaining a transformation matrix of the carrier; and acquiring the four digits corresponding to the rotation information according to the transformation matrix.
Optionally, the method further includes:
the first position information acquisition module is used for acquiring first position information of the carrier according to the transformation matrix;
and the second sending module is used for sending the first position information.
Optionally, the vehicle is a vehicle, the vehicle includes a wheel and a frame, the rotation information of the vehicle is the rotation information of the wheel, and the first position information is the position information of the wheel, the apparatus further includes:
the second position information acquisition module is used for acquiring second position information and an Euler angle of the frame; the second position information is position information of the frame;
and the third sending module is used for sending the second position information and the Euler angle of the frame.
A fourth aspect of the present invention provides a vehicle data synchronization apparatus, including:
the compressed data acquisition module is used for acquiring compressed data corresponding to the rotation information of the carrier; the compressed data comprises integer unsigned int numbers; the unsenced int number is obtained by compressing a quaternion in the rotation information;
and the decompression module is used for decompressing the unsenged int number to obtain the quaternion.
Optionally, the decompression module includes:
the decompression submodule is used for decompressing the first 30 bits of the unsenged int number by taking each 10 bits as a unit to obtain a three-bit component with an absolute value sequence; the three-digit component after the absolute value sorting is the three-digit component after the absolute value sorting from big to small in the four components of the quaternion; determining the component with the maximum absolute value in the four components of the quaternion according to the components of the three bits after the absolute value sequencing; decompressing the last 2 bits of the unsenged int number to obtain the position of the component with the maximum absolute value in the quaternion; and combining the component with the maximum absolute value with the components of three bits after the absolute value is sequenced according to the position of the component with the maximum absolute value in the quaternion to obtain the quaternion.
Optionally, the method further includes:
the first acquisition module is used for acquiring first position information of the carrier;
and the transformation matrix acquisition module is used for acquiring a transformation matrix of the carrier according to the first position information and the quaternion.
Optionally, the vehicle is a vehicle, the vehicle includes a wheel and a frame, the rotation information of the vehicle is the rotation information of the wheel, and the first position information is the position information of the wheel, the apparatus further includes:
the second acquisition module is used for acquiring second position information and an Euler angle of the frame; the second position information is position information of the vehicle frame.
A fifth aspect of an embodiment of the present invention provides an electronic device, including: a processor, a memory, and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor, the computer program comprising instructions for performing the method of any of the preceding first or second aspects.
A sixth aspect of embodiments of the present invention provides a computer-readable storage medium, which stores a computer program that, when executed, implements a method according to any one of the first or second aspects.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a carrier data synchronization method and a carrier data synchronization device, wherein when carrier synchronization is realized, a terminal can compress a quaternion in rotation information of a carrier into an integer unsigned int number, and the space occupation of the unsigned int number is smaller than that of the quaternion, so that when the unsigned int number is sent, the consumption of flow is low. It can be understood that, when the synchronization of the carriers is realized, the other terminal may decompress the unsend int number according to a decompression method adapted to the method for compressing the quaternion, and restore the rotation information of the carriers, thereby realizing the synchronization of the carriers.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of an application scenario of a carrier data synchronization method according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a vehicle data synchronization method according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a floating-point storage format of a synchronization method for vehicle data according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating the compression mapping between integer unsigned numbers and quaternions according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating another vehicle data synchronization method according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a synchronization apparatus for vehicle data according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of another embodiment of a synchronization device for vehicle data according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
The embodiment of the invention provides a carrier data synchronization method and a carrier data synchronization device, wherein when carrier synchronization is realized, a terminal can compress a quaternion in rotation information of a carrier into an integer unsigned int number, and the space occupation of the unsigned int number is smaller than that of the quaternion, so that when the unsigned int number is sent, the consumption of flow is low. It can be understood that, when the synchronization of the carriers is realized, the other terminal may decompress the unsend int number according to a decompression method adapted to the method for compressing the quaternion, and restore the rotation information of the carriers, thereby realizing the synchronization of the carriers.
The vehicle described in the embodiment of the present invention may be a vehicle having a rotation and movement function in a game, and may be, for example, a vehicle in a game, a character model capable of rotating (for example, a character model capable of rotating four limbs), a weapon capable of rotating, and the like.
Rotation information as described in embodiments of the present invention.
Next, an application scenario of the embodiment of the present invention is described with reference to fig. 1, and as shown in fig. 1, fig. 1 is an interaction flow between a first terminal, a second terminal and a server in a vehicle data synchronization method according to the embodiment of the present invention.
In the embodiment of the present invention, the rotation, movement, etc. of the carrier in the first terminal 10 can be synchronized to the second terminal 30 through the server 20.
Specifically, the first terminal may include: cell-phone, panel computer, notebook computer or desktop computer etc. the second terminal also can include: a mobile phone, a tablet computer, a notebook computer or a desktop computer, etc., which are not specifically limited in this embodiment of the present invention.
When performing carrier synchronization, the first terminal 10 may compress data related to a carrier (for example, rotation information, position information, etc. of the carrier) according to a compression method in an embodiment of the present invention, and transmit the compressed data to the server 20, and the second terminal 30 may obtain the compressed data from the server 20, decompress the compressed data according to a decompression algorithm adapted to the compression method in the embodiment of the present invention, and implement carrier synchronization with the first terminal 10 in the second terminal 30.
As shown in fig. 2, fig. 2 is a flowchart illustrating a synchronization method for vehicle data according to an embodiment of the present invention. The embodiment of the invention can be applied to a first terminal, and the method specifically comprises the following steps:
step S101: acquiring rotation information of a carrier; the rotation information includes a quaternion.
In the embodiment of the present invention, the rotation information of the vehicle may be used to indicate the rotation state of the vehicle. In a specific application, part of information in the vehicle can be represented by a transformation matrix, and a quaternion representing rotation information of the vehicle can be calculated in the transformation matrix.
As an example, taking a vehicle as an example, the vehicle generally includes a frame and wheels. The specific situation of the vehicle frame can be generally represented by the position information of the vehicle frame and three euler angles of the vehicle frame, specifically, the position information of the vehicle frame can be represented by three floating point numbers (x, y, z), and the three euler angles of the vehicle frame can be represented by three floating point numbers (yaw, pitch, roll). The specific situation of the wheel is usually represented by a transformation matrix, and the specific situation of the wheel can be represented by a 4 x 4 floating point number matrix. It can be understood that if the information of the vehicle is not processed, if the vehicle has four wheels, 70 floating points are required for representing one vehicle, and a specific calculation method is that 3(x, y, z) +3(yaw, pitch, roll) +16(4 × 4 matrix) × 4 (wheel number) ═ 70 floating points. The 70 floating-point numbers would occupy a large amount of space, so that more network traffic is required for vehicle synchronization.
The inventor has found in research that in some scenarios, the concrete representation of the wheel can be split into position information and rotation information of the wheel, and therefore, the transformation matrix of the wheel can be transformed into a position vector (a, b, c) having three floating points and a quaternion (e, f, g, h) having four floating points, the position information of the wheel can be represented by the position vector (a, b, c), and the rotation information can be represented by the quaternion (e, f, g, h). In this method, when one wheel is represented, the number of floating point numbers is reduced from 16 to 7 in the transformation matrix, and the calculation method of the 7 floating point numbers is specifically as follows: 3(a, b, c) +4(e, f, g, h) is 7 floating point numbers. However, the 7 floating-point numbers still have a large occupied space, so that more network traffic is required when the vehicles are synchronized.
And the inventor further finds that the data storage format of the floating point number is as shown in fig. 3, because a precision type of 23 bits is provided in the data storage format of the floating point number, the precision of 23 bits is enough to represent a fraction (2^23) of the spherical surface, which is beyond the visual sensing range, and in the vehicle synchronization, the precision of the data storage format of the floating point number is too high for the rotation of the wheels of the vehicle, which results in the waste of space occupation; and three components of e, f and g in the four components of e, f, g and h of the quaternion are certainly less than 1, so that the exponent bits of the floating point number are wasted by 1 bit.
Therefore, in the embodiment of the present invention, the quaternion is further compressed into an integer unsigned int number occupying only 32 bits.
In an optional implementation manner of the embodiment of the present invention, step S101 may include: acquiring a transformation matrix of the carrier; and acquiring the four digits corresponding to the rotation information according to the transformation matrix.
For example, the transformation matrix is:
Figure BDA0002160632290000091
then, in the four bits (e, f, g, h) corresponding to the rotation information:
e＝1/2*sqrt(1+r11+r12+r13)
f＝(r32-r23)/4*e
g＝(r13-r31)/4*e
h＝(r21-r12)/4*e
it can be understood that, according to an actual application scenario, a person skilled in the art may also use other methods to obtain the four digits corresponding to the rotation information of the carrier, which is not specifically limited in the embodiment of the present invention.
Step S102: compressing the quaternion to obtain an integer unsigned int number; the spatial occupancy of the unsenged int number is less than the spatial occupancy of the quaternion.
In the embodiment of the invention, the quaternion (e, f, g, h) is considered to satisfy: e + f + g + h ═ 1. Therefore, based on the characteristic of the quaternion, three components in the quaternion can be synchronized, and the other component can be calculated by the formula. Meanwhile, 32 bits exist in the data storage format combined with the unsigned int, so that three components can be respectively compressed into a value of 10 bits, the value is stored in the first 30 bits of the unsigned int memory structure, the position information of the other component is compressed into 2 bits, and the position information is stored in the last 2 bits of the unsigned int memory structure, so that the quaternion is compressed into an integral unsigned int number.
In an optional implementation manner of the embodiment of the present invention, the compressing the quaternion includes: compressing the three-bit component after the absolute value sequencing in the four components of the quaternion into the first 30 bits of the unsenged int memory structure; the absolute value sequence is a sequence from large to small according to the absolute value; each component of the three-bit components after the absolute value sorting occupies 10 bits; and compressing the position information of the component with the maximum absolute value in the four components of the quaternion into the last 2 bits of the unsenged int memory structure, wherein the position information is the position of the component with the maximum absolute value in the quaternion.
In specific application, 3 components with smaller absolute values can be selected from four components of the quaternion and compressed into the first 30 bits of the unsenged int memory structure, and each component occupies 10 bits. Since the square sum of the four components in the quaternion is 1, the second largest component in absolute value must be less than or equal to
Figure BDA0002160632290000101
Specifically, assuming that in the quaternion (e, f, g, h), e and f are both 0, and g and h are equal, the quaternion can be obtained
Figure BDA0002160632290000102
And e, f, g, h has the largest absolute component, so the second largest absolute component must be less than or equal to
Figure BDA0002160632290000103
I.e. the three components with smaller absolute values must be smaller than or equal to
Figure BDA0002160632290000104
I.e. the values of the three components with smaller absolute values are
Figure BDA0002160632290000105
And the value range of 10 bits is 0-1023, so the compression mode of three components with smaller absolute values can be as follows: the three smaller absolute values of the components are successively:
Figure BDA0002160632290000106
the mapping is performed to 0-1023, and the mapping is filled into the first 30 bits of the unknown int.
The component with the largest absolute value only needs to compress the position information corresponding to the quaternion into the last 2 bits of the unsenged int memory structure.
For example, taking three components with smaller absolute values of quaternions (e, f, g, h) as e, f, g, and the component with the largest absolute value as h as an example, the spatial correspondence relationship between quaternions and unsenged int numbers is shown in fig. 4.
Optionally, in a case that the component with the largest absolute value is a negative value, compressing the component of the three bits after the absolute value sorting in the four components of the quaternion into the first 30 bits bit of the unsenged int memory structure includes: and (3) in the four components of the quaternion, inverting the components of three bits after the absolute value sequencing and compressing the components into the first 30 bits of the unsenged int memory structure.
In the embodiment of the invention, the quaternion (e, f, g, h) is considered to further satisfy the following conditions: q (e, f, g, h) ═ Q (-e, -f, -g, -h); therefore, when the component with the largest absolute value is a negative value, the components with three bits after the absolute value sorting can be inverted and compressed, so that the component with the largest absolute value can be uniformly processed according to positive numbers during decompression.
Step S103: and sending compressed data of the rotation information, wherein the compressed data comprises the unsenged int number.
In the embodiment of the present invention, compressed data of rotation information may be sent to a server, where the compressed data includes the unsend int number, and a terminal wishing to synchronize the carrier may further obtain the unsend int number from the server, and may obtain corresponding synchronization data after decompressing the unsend int number.
Optionally, after the obtaining the transformation matrix of the vehicle, the method further includes: acquiring first position information of the carrier according to the transformation matrix; and sending the first position information.
In the embodiment of the present invention, only the quaternion representing the rotation information of the vehicle is compressed, and the data identifying the position information of the vehicle is not changed, but in practical applications, when the vehicle synchronization is performed, the position information of the vehicle is also required, so that it is also necessary to obtain the first position information of the vehicle according to the transformation matrix, and send the first position information to the server, where the vehicle is a vehicle, the vehicle includes a wheel and a frame, the rotation information of the vehicle is the rotation information of the wheel, the first position information is the position information of the wheel as an example, and the first position information pos is obtained from the transformation matrix of step S101 as three floating points (r14, r24, r 34).
It can be understood that in practical applications, it may also be necessary to synchronize the frame information when synchronizing the vehicles, and therefore, the optional method further includes: acquiring second position information and an Euler angle of the frame; the second position information is position information of the frame; and transmitting the second position information and the Euler angle of the frame.
It can be understood that, in practical applications, there are many common ways to obtain the position information and the euler angles of the vehicle frame, and this is not particularly limited in the embodiments of the present invention.
In a specific application, the unsenged int number, the first position information, the second position information, and the euler angle of the vehicle frame may be sent to the server all at once, or may be sent to the server separately or separately after being partially combined.
It can be understood that, in the embodiment of the present invention, when vehicle synchronization is performed, only space occupation of 10 floating point numbers, 3(x, y, z) +3(yaw, pitch, roll) +3(a, b, c) +1 (unsenged int number) × 4 ═ 13 floating point numbers is required to represent a vehicle, so that network traffic can be greatly saved.
In summary, embodiments of the present invention provide a method and an apparatus for synchronizing carrier data, where when a carrier is synchronized, a terminal may compress a quaternion in rotation information of the carrier into an integer unsigned int number, and a space occupied by the integer int number is smaller than a space occupied by the quaternion, so that when the unsigned int number is sent, the consumption on traffic is small. It can be understood that, when the synchronization of the carriers is realized, the other terminal may decompress the unsend int number according to a decompression method adapted to the method for compressing the quaternion, and restore the rotation information of the carriers, thereby realizing the synchronization of the carriers.
Fig. 5 is another flow chart illustrating a vehicle data synchronization method according to an embodiment of the present invention. The embodiment of the present invention can be applied to a second terminal, and as shown in fig. 5, the method for synchronizing vehicle data provided by the present invention includes:
step S201: acquiring compressed data corresponding to rotation information of a carrier; the compressed data comprises integer unsigned int numbers; the unsenced int number is obtained by compressing according to a quaternion in the rotation information.
In the embodiment of the present invention, compressed data corresponding to the rotation information of the carrier may be obtained from a server, where the compressed data is: the unknown int number obtained by compressing the quaternion by the compression method in the embodiment of the first terminal specifically refers to the specific description in the embodiment of the first terminal, and is not described herein again.
Step S202: and decompressing the unsenged int number to obtain the quaternion.
In the embodiment of the present invention, the unknown int number is decompressed according to a decompression method adapted to the compression method in the embodiment of the first terminal, so as to obtain a quaternion, and a person skilled in the art may determine a suitable decompression method according to an actual application scenario, which is not specifically limited in this embodiment of the present invention.
Optionally, the decompressing the unsenged int number, and obtaining the quaternion includes:
decompressing the first 30 bits of the unsenged int number by taking each 10 bits as a unit to obtain a component of three bits after absolute value sequencing; the three-digit component after the absolute value sorting is the three-digit component after the absolute value sorting from big to small in the four components of the quaternion; determining the component with the maximum absolute value in the four components of the quaternion according to the components of the three bits after the absolute value sequencing; decompressing the last 2 bits of the unsenged int number to obtain the position of the component with the maximum absolute value in the quaternion; and combining the component with the maximum absolute value with the components of three bits after the absolute value is sequenced according to the position of the component with the maximum absolute value in the quaternion to obtain the quaternion.
In the embodiment of the invention, the unknown int number and the quaternion are compressed and correspond to each other with reference to FIG. 4A schematic diagram, which takes out 30 bits before the unaligned int number and maps them from 0-1023
Figure BDA0002160632290000121
Figure BDA0002160632290000122
And obtaining three-bit components after the absolute value sorting, calculating to obtain the component with the maximum absolute value through a formula e + f + g + h ═ 1, taking the position of the component with the maximum absolute value from the last two bits of the unaligned int number, setting the component with the maximum absolute value into the quaternion according to the position of the component with the maximum absolute value, and decompressing the whole quaternion.
Optionally, the method in the embodiment of the present invention further includes: acquiring first position information of the carrier; and obtaining a transformation matrix of the carrier according to the first position information and the quaternion.
In practical application, when the carriers are synchronized, the position information of the carriers is also needed, so that the first position information of the carriers can be obtained, and the transformation matrix of the carriers can be obtained according to the first position information and the quaternion transformation.
For example, taking the quaternion of the rotation information (rotation) as (e, f, g, h) and the first position information pos as (pe, pf, pg), the transformation matrix obtained is:
Figure BDA0002160632290000131
in a specific application, when vehicle synchronization is performed, if synchronization is not per frame, synchronization is performed at intervals of seconds or 1/10 seconds, and rotation and pos are decompressed, interpolation between two times of synchronization may be obtained first, and then pos and rotation obtained by interpolation are converted back to a transformation matrix.
Optionally, the vehicle is a vehicle, the vehicle includes a wheel and a frame, the rotation information of the vehicle is rotation information of the wheel, and the first position information is position information of the wheel, the method further includes: acquiring second position information and an Euler angle of the frame; the second position information is position information of the vehicle frame.
It can be understood that, in practical application, the frame information may need to be synchronized when the vehicles are synchronized, and the position information of the frame and the euler angle of the frame may be acquired from the server, so that the synchronization of the frame is realized.
In a specific application, the unsenged int number, the first position information, the second position information, and the euler angle of the vehicle frame may be obtained from the server all at once, or may be obtained from the server separately or partially, which is not limited in this embodiment of the present invention.
In summary, embodiments of the present invention provide a method and an apparatus for synchronizing carrier data, where when a carrier is synchronized, a terminal may compress a quaternion in rotation information of the carrier into an integer unsigned int number, and a space occupied by the integer int number is smaller than a space occupied by the quaternion, so that when the unsigned int number is sent, the consumption on traffic is small. It can be understood that, when the synchronization of the carriers is realized, the other terminal may decompress the unsend int number according to a decompression method adapted to the method for compressing the quaternion, and restore the rotation information of the carriers, thereby realizing the synchronization of the carriers.
Fig. 6 is a schematic structural diagram of a vehicle data synchronization device according to an embodiment of the present invention. As shown in fig. 6, the synchronization device for vehicle data provided in this embodiment includes:
a quaternion obtaining module 310, configured to obtain rotation information of the vehicle; the rotation information comprises a quaternion;
a compressing module 320, configured to compress the quaternion to obtain an integer unsigned int number; the space occupation of the unsenged int number is smaller than that of the quaternion;
a first sending module 330, configured to send compressed data of the rotation information, where the compressed data includes the unsended int number.
Optionally, the compression module includes:
the compression submodule is used for compressing the components of three bits after the absolute value is sequenced in the four components of the quaternion into the first 30 bits of the unsenged int memory structure; the absolute value sequence is a sequence from large to small according to the absolute value; each component of the three-bit components after the absolute value sorting occupies 10 bits; and compressing the position information of the component with the maximum absolute value in the four components of the quaternion into the last 2 bits of the unsenged int memory structure, wherein the position information is the position of the component with the maximum absolute value in the quaternion.
Optionally, in a case that the component with the largest absolute value is a negative value, the compression submodule includes:
and the compression unit is used for inverting and compressing the three-bit component after the absolute value is sequenced in the four components of the quaternion into the first 30 bits of the unsenged int memory structure.
Optionally, the quaternion obtaining module includes:
a quaternion obtaining submodule for obtaining a transformation matrix of the carrier; and acquiring the four digits corresponding to the rotation information according to the transformation matrix.
Optionally, the method further includes:
the first position information acquisition module is used for acquiring first position information of the carrier according to the transformation matrix;
and the second sending module is used for sending the first position information.
Optionally, the vehicle is a vehicle, the vehicle includes a wheel and a frame, the rotation information of the vehicle is the rotation information of the wheel, and the first position information is the position information of the wheel, the apparatus further includes:
the second position information acquisition module is used for acquiring second position information and an Euler angle of the frame; the second position information is position information of the frame;
and the third sending module is used for sending the second position information and the Euler angle of the frame.
In summary, embodiments of the present invention provide a method and an apparatus for synchronizing carrier data, where when a carrier is synchronized, a terminal may compress a quaternion in rotation information of the carrier into an integer unsigned int number, and a space occupied by the integer int number is smaller than a space occupied by the quaternion, so that when the unsigned int number is sent, the consumption on traffic is small. It can be understood that, when the synchronization of the carriers is realized, the other terminal may decompress the unsend int number according to a decompression method adapted to the method for compressing the quaternion, and restore the rotation information of the carriers, thereby realizing the synchronization of the carriers.
Fig. 7 is a schematic structural diagram of another embodiment of a synchronization device for vehicle data according to the present invention. As shown in fig. 7, the synchronization device for vehicle data provided in this embodiment includes:
a compressed data obtaining module 410, configured to obtain compressed data corresponding to rotation information of a carrier; the compressed data comprises integer unsigned int numbers; the unsenced int number is obtained by compressing a quaternion in the rotation information;
and the decompression module 420 is configured to decompress the unsenged int number to obtain the quaternion.
Optionally, the decompression module includes:
the decompression submodule is used for decompressing the first 30 bits of the unsenged int number by taking each 10 bits as a unit to obtain a three-bit component with an absolute value sequence; the three-digit component after the absolute value sorting is the three-digit component after the absolute value sorting from big to small in the four components of the quaternion; determining the component with the maximum absolute value in the four components of the quaternion according to the components of the three bits after the absolute value sequencing; decompressing the last 2 bits of the unsenged int number to obtain the position of the component with the maximum absolute value in the quaternion; and combining the component with the maximum absolute value with the components of three bits after the absolute value is sequenced according to the position of the component with the maximum absolute value in the quaternion to obtain the quaternion.
Optionally, the method further includes:
the first acquisition module is used for acquiring first position information of the carrier;
and the transformation matrix acquisition module is used for acquiring a transformation matrix of the carrier according to the first position information and the quaternion.
Optionally, the vehicle is a vehicle, the vehicle includes a wheel and a frame, the rotation information of the vehicle is the rotation information of the wheel, and the first position information is the position information of the wheel, the apparatus further includes:
the second acquisition module is used for acquiring second position information and an Euler angle of the frame; the second position information is position information of the vehicle frame.
In summary, embodiments of the present invention provide a method and an apparatus for synchronizing carrier data, where when a carrier is synchronized, a terminal may compress a quaternion in rotation information of the carrier into an integer unsigned int number, and a space occupied by the integer int number is smaller than a space occupied by the quaternion, so that when the unsigned int number is sent, the consumption on traffic is small. It can be understood that, when the synchronization of the carriers is realized, the other terminal may decompress the unsend int number according to a decompression method adapted to the method for compressing the quaternion, and restore the rotation information of the carriers, thereby realizing the synchronization of the carriers.
The carrier data synchronization device provided in each embodiment of the present invention can be used to execute the methods shown in the corresponding embodiments, and the implementation manner and principle thereof are the same, and are not described again.
An embodiment of the present invention further provides an electronic device, including: a processor, a memory, and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor, the computer program comprising instructions for performing the method of any of the preceding embodiments.
Embodiments of the present invention also provide a computer-readable storage medium, which stores a computer program, and when the computer program is executed, the computer program implements the method according to any one of the foregoing embodiments.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (18)

1. A method for synchronizing vehicle data, the method comprising:
acquiring rotation information of a carrier; the rotation information comprises a quaternion;
compressing the quaternion to obtain an integer unsigned int number; the space occupation of the unsenged int number is smaller than that of the quaternion;
sending compressed data of the rotation information, wherein the compressed data comprises the unsenged int number;
the compressing the quaternion, comprising:
compressing the three-bit component after the absolute value sequencing in the four components of the quaternion into the first 30 bits of the unsenged int memory structure; the absolute value sequence is a sequence from large to small according to the absolute value; each component of the three-bit components after the absolute value sorting occupies 10 bits; and the number of the first and second groups,
and compressing the position information of the component with the maximum absolute value in the four components of the quaternion into the last 2 bits of the unsenged int memory structure, wherein the position information is the position of the component with the maximum absolute value in the quaternion.
2. The method as claimed in claim 1, wherein, in the case that the component with the largest absolute value is a negative value, the compressing the component with three bits after the absolute value ordering in the four components of the quaternion into the first 30 bits of the unsenged int memory structure comprises:
and (3) in the four components of the quaternion, inverting the components of three bits after the absolute value sequencing and compressing the components into the first 30 bits of the unsenged int memory structure.
3. The method of claim 1 or 2, wherein the obtaining rotation information of the vehicle comprises:
acquiring a transformation matrix of the carrier;
and acquiring the four digits corresponding to the rotation information according to the transformation matrix.
4. The method of claim 3, wherein after obtaining the transformation matrix of the vehicle, further comprising:
acquiring first position information of the carrier according to the transformation matrix;
and sending the first position information.
5. The method of claim 4, wherein the vehicle is a vehicle, the vehicle includes a wheel and a frame, the rotation information of the vehicle is rotation information of the wheel, the first position information is position information of the wheel, and the method further comprises:
acquiring second position information and an Euler angle of the frame; the second position information is position information of the frame;
and transmitting the second position information and the Euler angle of the frame.
6. A method for synchronizing vehicle data, the method comprising:
acquiring compressed data corresponding to rotation information of a carrier; the compressed data comprises an integer unsigned number; the unsengedint number is obtained by compressing according to a quaternion in the rotation information;
decompressing the unsenged int number to obtain the quaternion;
decompressing the unsenged int number, and obtaining the quaternion includes:
decompressing the first 30 bits of the unsengedin number by taking every 10 bits as a unit to obtain the components of three bits after absolute value sorting; the three-digit component after the absolute value sorting is the three-digit component after the absolute value sorting from big to small in the four components of the quaternion;
determining the component with the maximum absolute value in the four components of the quaternion according to the components of the three bits after the absolute value sequencing;
decompressing the last 2 bits of the unsenged int number to obtain the position of the component with the maximum absolute value in the quaternion;
and combining the component with the maximum absolute value with the components of three bits after the absolute value is sequenced according to the position of the component with the maximum absolute value in the quaternion to obtain the quaternion.
7. The method of claim 6, further comprising:
acquiring first position information of the carrier;
and obtaining a transformation matrix of the carrier according to the first position information and the quaternion.
8. The method of claim 7, wherein the vehicle is a vehicle, the vehicle includes a wheel and a frame, the rotation information of the vehicle is rotation information of the wheel, the first position information is position information of the wheel, and the method further comprises:
acquiring second position information and an Euler angle of the frame; the second position information is position information of the vehicle frame.
9. A synchronization device for vehicle data, comprising:
the quaternion acquisition module is used for acquiring the rotation information of the carrier; the rotation information comprises a quaternion;
the compression module is used for compressing the quaternion to obtain an integer unsigned number; the space occupation of the unsenged int number is smaller than that of the quaternion;
a first sending module, configured to send compressed data of the rotation information, where the compressed data includes the unsenged int number;
the compression module includes:
the compression submodule is used for compressing the components of three bits after the absolute value is sequenced in the four components of the quaternion into the first 30 bits of the unsenged int memory structure; the absolute value sequence is a sequence from large to small according to the absolute value; each component of the three-bit components after the absolute value sorting occupies 10 bits; and compressing the position information of the component with the maximum absolute value in the four components of the quaternion into the last 2 bits of the unsenged int memory structure, wherein the position information is the position of the component with the maximum absolute value in the quaternion.
10. The apparatus of claim 9, wherein in the case that the component with the largest absolute value is a negative value, the compression submodule comprises:
and the compression unit is used for inverting the three-bit component after the absolute value is sequenced from the four components of the quaternion and then compressing the three-bit component into the first 30 bits of the unsengedin memory structure.
11. The apparatus of claim 8 or 9, wherein the quaternion obtaining module comprises:
a quaternion obtaining submodule for obtaining a transformation matrix of the carrier; and acquiring the four digits corresponding to the rotation information according to the transformation matrix.
12. The apparatus of claim 11, further comprising:
the first position information acquisition module is used for acquiring first position information of the carrier according to the transformation matrix;
and the second sending module is used for sending the first position information.
13. The apparatus of claim 12, wherein the vehicle is a vehicle, the vehicle includes a wheel and a frame, the rotation information of the vehicle is rotation information of the wheel, the first position information is position information of the wheel, and the apparatus further comprises:
the second position information acquisition module is used for acquiring second position information and an Euler angle of the frame; the second position information is position information of the frame;
and the third sending module is used for sending the second position information and the Euler angle of the frame.
14. An apparatus for synchronizing vehicle data, the apparatus comprising:
the compressed data acquisition module is used for acquiring compressed data corresponding to the rotation information of the carrier; the compressed data comprises integer unsigned int numbers; the unsenced int number is obtained by compressing a quaternion in the rotation information;
the decompression module is used for decompressing the unsenged int number to obtain the quaternion;
the decompression module includes:
the decompression submodule is used for decompressing the first 30 bits of the unsenged int number by taking each 10 bits as a unit to obtain a three-bit component with an absolute value sequence; the three-digit component after the absolute value sorting is the three-digit component after the absolute value sorting from big to small in the four components of the quaternion; determining the component with the maximum absolute value in the four components of the quaternion according to the components of the three bits after the absolute value sequencing; decompressing the last 2 bits of the unsenged int number to obtain the position of the component with the maximum absolute value in the quaternion; and combining the component with the maximum absolute value with the components of three bits after the absolute value is sequenced according to the position of the component with the maximum absolute value in the quaternion to obtain the quaternion.
15. The apparatus of claim 14, further comprising:
the first acquisition module is used for acquiring first position information of the carrier;
and the transformation matrix acquisition module is used for acquiring a transformation matrix of the carrier according to the first position information and the quaternion.
16. The apparatus of claim 15, wherein the vehicle is a vehicle, the vehicle includes a wheel and a frame, the rotation information of the vehicle is rotation information of the wheel, the first position information is position information of the wheel, and the apparatus further comprises:
the second acquisition module is used for acquiring second position information and an Euler angle of the frame; the second position information is position information of the vehicle frame.
17. An electronic device, comprising:
a processor, a memory, and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor, the computer program comprising instructions for performing the method of any of claims 1-5 or instructions for performing the method of any of claims 6-8.
18. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed, implements instructions for the method of any of claims 1-5, or performs instructions for the method of any of claims 6-8.
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