CN113205601A - Roaming path generation method and device, storage medium and electronic equipment - Google Patents
Roaming path generation method and device, storage medium and electronic equipment Download PDFInfo
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Abstract
The disclosure relates to a roaming path generation method, a roaming path generation device, a storage medium and electronic equipment, which are used for solving the problem of discontinuous camera point positions, so that a scene roaming path is continuous, and browsing experience of a user on a scene design effect is improved. The method comprises the following steps: determining a target scene top view corresponding to an indoor scene; in the target scene top view, determining reachable pixel points which are not shielded by articles in the indoor scene, and determining a roaming path in each room in the indoor scene according to the reachable pixel points; determining a tree structure corresponding to the indoor scene, and determining a roaming path between each room in the indoor scene according to the tree structure; and selecting a target camera point location from the roaming path in each room and the roaming paths among the rooms, and generating a user roaming path according to the target camera point location.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to a roaming path generation method and apparatus, a storage medium, and an electronic device.
Background
With the rapid development of virtual reality technology, the scene design field also begins to apply the technology to the task of scene roaming, such as scene roaming through virtual reality technology in the indoor scene design field. Specifically, after a user designs a scene in a virtual space through electronic equipment, the user can select a camera point location, render the scene, and quickly browse the design effect of the current scene.
However, in the related art, camera positions are usually selected manually, and the problem of discontinuous camera positions exists, so that a continuous user roaming path cannot be formed, and the browsing experience of a user on a scene design effect is influenced.
Disclosure of Invention
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
In a first aspect, the present disclosure provides a roaming path generating method, including:
determining a target scene top view corresponding to an indoor scene;
in the target scene top view, determining reachable pixel points which are not shielded by articles in the indoor scene, and determining a roaming path in each room in the indoor scene according to the reachable pixel points;
determining a tree structure corresponding to the indoor scene, and determining a roaming path between rooms in the indoor scene according to the tree structure, wherein nodes in the tree structure represent the rooms in the indoor scene, and the relationship between the nodes is used for representing the communication relationship between the rooms in the indoor scene;
and selecting a target camera point location from the roaming path in each room and the roaming paths among the rooms, and generating a user roaming path according to the target camera point location.
In a second aspect, the present disclosure provides a roaming path generating apparatus, the apparatus including:
the first determining module is used for determining a target scene top view corresponding to an indoor scene;
a second determining module, configured to determine, in the target scene top view, reachable pixel points where no article is blocked in the indoor scene, and determine, according to the reachable pixel points, a roaming path in each room in the indoor scene;
a third determining module, configured to determine a tree structure corresponding to the indoor scene, and determine a roaming path between rooms in the indoor scene according to the tree structure, where nodes in the tree structure represent the rooms in the indoor scene, and a relationship between the nodes is used to represent a connection relationship between the rooms in the indoor scene;
and the generation module is used for selecting a target camera point position from the roaming path in each room and the roaming paths among the rooms, and generating a user roaming path according to the target camera point position.
In a third aspect, the present disclosure provides a computer readable medium having stored thereon a computer program which, when executed by a processing apparatus, performs the steps of the method of the first aspect.
In a fourth aspect, the present disclosure provides an electronic device comprising:
a storage device having a computer program stored thereon;
processing means for executing the computer program in the storage means to carry out the steps of the method of the first aspect.
Through the technical scheme, the roaming path of each room in the indoor scene and the roaming path among the rooms can be determined, and then the target camera point position is selected according to the roaming path of each room and the roaming path among the rooms. The target camera point location is selected from the continuous room roaming path, so that the problem of discontinuous camera point locations can be avoided, the user roaming path generated according to the target camera point location is continuous, and the browsing experience of the user on the scene design effect is improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and features are not necessarily drawn to scale. In the drawings:
fig. 1 is a flowchart illustrating a roaming path generation method according to an exemplary embodiment of the present disclosure;
fig. 2 is a block diagram illustrating a roaming path generating apparatus according to an exemplary embodiment of the present disclosure;
fig. 3 is a block diagram illustrating an electronic device according to an exemplary embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order, and/or performed in parallel. Moreover, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
The term "include" and variations thereof as used herein are open-ended, i.e., "including but not limited to". The term "based on" is "based, at least in part, on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions for other terms will be given in the following description.
It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units. It is further noted that references to "a", "an", and "the" modifications in the present disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.
The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.
As background art, in the related art, camera point locations are usually selected manually, and there is a problem that the camera point locations are not continuous, so that a continuous user roaming path cannot be formed, and browsing of a scene design effect by a user is affected. In view of this, the embodiments of the present disclosure provide a method for generating a roaming path, so as to solve the problem of discontinuous camera point locations, so that a user roaming path is continuous, and browsing experience of the user on a scene design effect is improved.
Fig. 1 is a flowchart illustrating a roaming path generation method according to an exemplary embodiment of the present disclosure. Referring to fig. 1, the roaming path generating method includes:
And 103, determining a tree structure corresponding to the indoor scene, and determining a roaming path between rooms in the indoor scene according to the tree structure. The nodes in the tree structure represent rooms in an indoor scene, and the relationship among the nodes is used for representing the communication relationship among all the rooms in the indoor scene;
and 104, selecting a target camera point position from the roaming path in each room and the roaming paths among the rooms, and generating a user roaming path according to the target camera point position.
By the method, the roaming path of each room in the indoor scene and the roaming path among the rooms can be determined, and then the target camera point position can be selected according to the roaming path of each room and the roaming path among the rooms. The target camera point location is selected from the continuous room roaming path, so that the problem of discontinuous camera point locations can be avoided, the user roaming path generated according to the target camera point location is continuous, and the browsing experience of the user on the scene design effect is improved.
In order to make those skilled in the art understand the roaming path generating method provided in the present disclosure, the following describes the above steps in detail.
For example, room structure information of an indoor scene and layout information of each article in the indoor scene may be read from the three-dimensional scene graph, for example, room structure information of walls, windows and the like in the indoor scene may be read, and orientation, size and position information of the article in the indoor scene may be read. Meanwhile, a blank two-dimensional image can be created, then a corresponding line segment is added in the two-dimensional image according to the room structure information, and the pixel value of the line segment can be set to be 1, so that the two-dimensional image is distinguished from the pixel point of the two-dimensional image, wherein the pixel value of the hollow area of the two-dimensional image is 0. Of course, when the present disclosure is implemented, other non-0 pixel values may be set for the line segment, which is not limited in the embodiment of the present disclosure. It should be further understood that, for the generation of the subsequent roaming path, the position of the door in the indoor scene may be left blank, i.e. the pixel value of the pixel point at the position of the door may be 0.
Meanwhile, corresponding shielding pixel points can be added into the two-dimensional image according to the layout information, and therefore a scene top view corresponding to the indoor scene is obtained. The shielding pixel point may be, for example, a pixel point with a pixel value of 1, so as to be distinguished from a pixel point with a pixel value of 0 in the blank area. Of course, when the present disclosure is implemented specifically, other non-0 pixel values may also be set for the shielding pixel point, which is not limited in the embodiment of the present disclosure.
After the top view of the target scene is obtained in the above manner, the vector expression (i.e. three-dimensional expression) of the indoor scene can be converted into two-dimensional pixel expression, and the regions with and without article occlusion in the indoor scene can be distinguished by setting the pixel values, so that the passable region in the indoor scene is determined, and the generation of the subsequent roaming path is facilitated.
It should be appreciated that the higher the resolution of the top view of the target scene, the more camera point locations that can be placed, the higher the temporal complexity of the computation. The resolution needs to be reduced in order to reduce the time complexity. That is, in a possible manner, determining the target scene top view corresponding to the indoor scene may be: the method comprises the steps of firstly determining an initial scene top view corresponding to a target scene, and then reducing the resolution of the initial scene top view to obtain a target scene top view corresponding to an indoor scene.
In the embodiment of the present disclosure, a roaming path needs to be determined subsequently, so that a walking path of a user needs to be considered in the process of determining a camera location. In the initial scene top view, the walking path width of the user may correspond to more pixel points due to higher resolution. In the embodiment of the present disclosure, in order to reduce the resolution, the number of pixel points corresponding to the walking path of the user in the initial scene top view may be reduced. For example, the resolution ratio may be determined according to the actual walking path width of the user and a preset walking path pixel width, and then the resolution of the initial scene top view may be reduced according to the length, the width, and the resolution ratio of the initial scene top view.
For example, the preset walking path pixel width may represent a degree of resolution reduction, and the larger the walking path pixel width is, the smaller the resolution reduction degree is, whereas the smaller the walking path pixel width is, the larger the resolution reduction degree is. For example, if the actual walking path width of the user is 30 cm and the preset walking path pixel width is 1 pixel, a specific resolution ratio can be obtained. Then, in the case that the length of the initial scene top view is X (in meters) and the width is Y (in meters), according to the resolution ratio, a pixel length and a pixel width, which are the resolution of the reduced-resolution target scene top view, can be determined. Therefore, the purpose of reducing the resolution of the initial scene top view and obtaining the target scene top view can be achieved through the mode.
In a possible manner, the initial scene top view may be divided into a plurality of grids, and the width of each grid may be obtained by a resolution ratio and the pixel length and the pixel width of the initial scene top view. Then, the maximum pixel value in each grid can be used as the pixel values of all the pixel points in the grid. Therefore, the purpose of reducing the resolution of the top view of the initial scene can be achieved, the time complexity of subsequent calculation is reduced, and the generation efficiency of the roaming path is improved.
After the target scene top view corresponding to the indoor scene is determined, reachable pixel points which are not shielded by articles in the indoor scene can be determined in the target scene top view, and then the roaming path in each room in the indoor scene is determined according to the reachable pixel points.
For example, it has been described in the foregoing that the pixel value of the pixel point in the white area in the top view of the target scene is 0, so that the pixel point with the pixel value of 0 in the top view of the target scene may be determined as an reachable pixel point in the indoor scene where there is no article shielding.
In a possible manner, according to the reachable pixel points, determining a roaming path in each room in the indoor scene may be: all reachable pixel points in each room in an indoor scene are taken as nodes, and edges are established between the nodes represented by adjacent reachable pixel points to obtain a graph structure corresponding to each room. Then, aiming at each room, selecting a target pixel point from pixel points covered by an entrance of the room, taking a node represented by the target pixel point as a starting point, taking all nodes represented by the reachable pixel points in the room as end points respectively, determining shortest paths from the starting point to all the end points according to a graph structure, and selecting the longest path from all the shortest paths as a roaming path of the room.
For example, the pixel point covered by the entrance of the room may be the pixel point covered by the entrance door of the room, and then the target pixel point may be the pixel point where the center point of the entrance door of the room is located. That is, the pixel point where the center point of the room entering the door is located can be used as the starting point of the path, and all the reachable pixels in the room can be used as the ending point of the path. Then, a shortest path algorithm may be used to find the shortest path between the starting point of the path and all the end points of the path. Because the reachable pixel points in the room are multiple, multiple shortest paths can be correspondingly obtained. Finally, the longest path from the shortest paths can be selected as the roaming path of the room to ensure the coverage of the room by the roaming path.
In addition, in the implementation, it is desirable that the roaming path is shortest and the roaming path has as few inflection points as possible, so in the process of determining the shortest path through the shortest path algorithm, the cost of the path change direction may be added to the cost function. For example, the cost function can be calculated according to the following formula:
C＝Cpath+Cdir
wherein the content of the first and second substances,
the position coordinate x of the ith pixel point in the roaming path is represented,
the position coordinate y of the ith pixel point in the roaming path is represented,
the position coordinate x of the i +1 th pixel point in the roaming path is represented,
indicating the first in a roaming pathThe position coordinates y of the i +1 pixel points,
to represent
Minus
The absolute value of the difference of (a) and (b),
to represent
Minus
In the absolute value of the difference of (a), inf represents an infinite number, diIndicating the direction of the ith pixel in the roaming path, di+1And the direction of the (i + 1) th pixel point in the roaming path is represented. Therefore, according to the roaming path with the minimum cost function result, the shortest roaming path can be obtained, and inflection points in the shortest roaming path are fewer.
By the method, all reachable pixel points in each room in the indoor scene can be used as nodes, and the graph structure corresponding to each room is established, so that the roaming path of each room in the indoor scene is determined according to the graph structure and the shortest path algorithm, the camera point position can be selected on the roaming path of each room, and the continuity of the camera point position is ensured.
After determining the roaming path of each room in the indoor scene, a tree structure corresponding to the indoor scene may be determined, and the roaming path between the rooms in the indoor scene may be determined according to the tree structure.
In a possible mode, hierarchical traversal can be performed from the lowest node of the tree structure, in each traversal process, a target pixel point is selected from pixel points covered by a room entrance corresponding to the node, the target pixel point is used as a starting point, a parent node of the node is determined, a pixel point occupied by a roaming path of a room corresponding to the parent node is used as an end point, the shortest path between the starting point and all the end points is determined, and then the shortest path is determined from all the shortest paths to be used as the roaming path between the room corresponding to the node and the room corresponding to the parent node.
For example, each room in the indoor scene may be taken as a node, and an edge may be established between nodes corresponding to two connected rooms, for example, an edge may be established between nodes corresponding to two connected rooms, so as to obtain a graph structure corresponding to the indoor scene. Then, the node corresponding to the room where the entrance door is located in the indoor scene can be taken as a starting point, breadth-first traversal is performed until all nodes are traversed, and the tree structure corresponding to the indoor scene is obtained. It should be understood that in the tree structure, the door where each child node communicates with its parent node serves as the entrance door to the room characterized by the child node, and the entrance door to the room characterized by the root node serves as the entrance door.
After the tree structure corresponding to the indoor scene is obtained, hierarchical traversal may be performed starting from the lowest node of the tree structure. In each traversal process, a pixel of a central point of a room entrance door represented by each node is taken as a path starting point, and a pixel point occupied by a determined roaming path in a father node room is taken as a path end point. Since the roaming path has a certain length and width, a plurality of path end points can be obtained. Then, the shortest path between the starting point of the path and the plurality of end points of the path may be calculated, resulting in a plurality of shortest paths. And finally, selecting the shortest roaming path from the shortest paths as the roaming path between the room represented by the node and the room represented by the father node, so that the roaming path between the rooms in the indoor scene is shortest, the roaming switching time between the rooms is shortened, and the scene roaming efficiency is improved.
After the roaming path in each room and the roaming path between the rooms are determined, the target camera point position can be selected from the roaming paths, the problem of discontinuous camera point positions is avoided, the roaming path generated according to the target camera point position is continuous, and the browsing experience of a user on the scene design effect is improved.
In a possible manner, at least one type of the following location points may be selected as the target camera point location on the roaming path within each room and the roaming path between rooms: an inflection point, a start point, an end point on a roaming path, and an intersection point between roaming paths. The inflection point indicates a position point at which the direction changes on the roaming route.
It should be understood that if all the types of location points are selected on the roaming path in each room and the roaming path between rooms, all the target camera points in the indoor scene can be guaranteed to be reachable, so that the roaming path generated according to the target camera points is continuous. However, the larger the number of camera points, the longer the rendering time in the scene browsing process is, and therefore, the types of location points can be filtered.
In a possible mode, all reachable pixel points in each room in the indoor scene can be clustered, and the central point of the cluster is determined as a key position point. Accordingly, selecting a target camera point location in the roaming path within each room and the roaming path between rooms may be: selecting at least one of the following types of candidate location points on the roaming path within each room and the roaming path between rooms: and then determining a target position point enabling communication between the key position points from the candidate position points, and determining the target position point and the key position points as a target camera point position.
In order to better show the effect of scene design, it is desirable to select camera points in an area as open as possible, and the open area is often a position where accessible pixel points are relatively gathered. Therefore, in the embodiment of the present disclosure, all reachable pixel points in each room may be clustered first, then the center of the cluster is determined as a key location point, and then a camera location point may be determined according to the key location point. Therefore, the camera point positions are moderate in density, and the problem that a large number of resources are consumed in the scene rendering process due to the fact that the camera point positions are too dense can be solved.
For example, a point set may be formed according to the coordinate positions of all reachable pixel points in each room, and then the point set is clustered by a clustering algorithm such as a K-Means algorithm, and a clustered center point is found. The method includes selecting 2 cluster center points for a room with a large area, and selecting 1 cluster center point for a room with a small area. Then, the cluster center point of each room can be used as the key location point.
After determining the key location points, candidate location points may be determined. It should be understood that the key location points are the camera locations that can better exhibit the design effect, and the candidate location points are the camera locations selected to satisfy the accessibility between the cameras. Further, to reduce scene rendering time, the fewer the number of camera points, the better. Thus, after obtaining the key location points and the candidate location points, it is preferable to ensure that all key location points are reachable with as few candidate location points as possible.
In the embodiment of the present disclosure, a target position point that enables communication between key position points may be determined among the candidate position points, and the target position point and the key position points may be determined as a target camera position point. Therefore, the target camera point positions can be reached, the density of the target camera point positions is moderate, and the scene rendering time in the scene browsing process is reduced.
In a possible manner, determining a target location point that enables communication between the key location points among the candidate location points, and determining the target location point and the key location point as the target camera point location may be: taking all the key position points and the candidate position points as candidate camera point positions, taking each candidate camera point position as a node, establishing edges between the nodes represented by the connectable candidate camera point positions to obtain a target graph structure, determining a minimum spanning tree containing target nodes under the condition that additional nodes are allowed to be added according to the target graph structure, wherein the target nodes are the nodes corresponding to the key position points, the additional nodes are the nodes corresponding to the target position points in the candidate position points, and then determining the target camera point position according to the position points represented by each node in the minimum spanning tree.
By way of example, a connectable candidate camera point location may be understood as a candidate camera point location without furniture, wall occlusions in the target scene top view. And establishing edges between nodes characterized by the connectable candidate camera point positions, wherein the length of the edges can be the Euclidean distance between the candidate camera point positions. After the target graph structure is obtained, an individual node ID may be set for each node in the target graph structure, and a node ID corresponding to the key location point is recorded, so that it can be determined whether the finally obtained minimum spanning tree includes a node corresponding to the key location point through the node ID.
After the target graph structure is obtained, a minimum spanning Tree containing the target node can be determined based on a Steiner Tree (Steiner Tree) algorithm under the condition that additional nodes are allowed to be added. The additional nodes are nodes corresponding to the target position points in the candidate position points, that is, the additional nodes are nodes screened from the candidate position points, and the additional nodes can enable the target nodes to be communicated with each other. The target node refers to a node corresponding to the key position point. If possible, if the node corresponding to some key location point cannot connect the node corresponding to other candidate location point and the node corresponding to other key location point, the node corresponding to the key location point may be deleted, that is, the node corresponding to the key location point may not be included in the minimum spanning tree.
It should be understood that the property of the minimum spanning tree can ensure that all nodes in the tree are reachable from each other, and because the minimum spanning tree includes nodes corresponding to the key position points, the target camera point location is determined according to the position point represented by each node in the minimum spanning tree, which can ensure that the target camera point locations are reachable from each other, can also ensure that the target camera point locations are moderate in density, and reduce the scene rendering time in the scene browsing process.
After the target camera point location is determined, a user roaming path may be generated according to the target camera point location. It should be understood that the user roaming path is generated during the user's browsing of the indoor scene, and is distinguished from the foregoing roaming path in each room and the roaming path between rooms. In the embodiment of the present disclosure, since the target camera point location is selected from a continuous room roaming path, the problem of discontinuous camera point locations can be avoided, so that the user roaming path generated according to the target camera point location is continuous, thereby improving the browsing experience of the user on the scene design effect.
Based on the same inventive concept, the disclosed embodiments also provide a roaming path generating apparatus, which may become part or all of an electronic device through software, hardware, or a combination of both. Referring to fig. 2, the roaming path generating apparatus 200 may include:
a first determining module 201, configured to determine a target scene top view corresponding to an indoor scene;
a second determining module 202, configured to determine, in the target scene top view, that there is no reachable pixel point that is blocked by an article in the indoor scene, and determine, according to the reachable pixel point, a roaming path in each room in the indoor scene;
a third determining module 203, configured to determine a tree structure corresponding to the indoor scene, and determine a roaming path between rooms in the indoor scene according to the tree structure, where nodes in the tree structure represent the rooms in the indoor scene, and a relationship between the nodes is used to represent a connectivity relationship between the rooms in the indoor scene;
a generating module 204, configured to select a target camera point location from the roaming path in each room and the roaming paths between the rooms, and generate a user roaming path according to the target camera point location.
Optionally, the first determining module 201 is configured to:
determining an initial scene top view corresponding to the target scene;
and reducing the resolution of the initial scene top view to obtain a target scene top view corresponding to the indoor scene.
Optionally, the second determining module 202 is configured to:
taking all reachable pixel points in each room in the indoor scene as nodes, and establishing edges between the nodes represented by the adjacent reachable pixel points to obtain a graph structure corresponding to each room;
and aiming at each room, selecting a target pixel point from pixel points covered by the entrance of the room, taking the node represented by the target pixel point as a starting point, taking all nodes represented by the reachable pixel points in the room as end points respectively, determining shortest paths from the starting point to all the end points according to the graph structure, and selecting the longest path from all the shortest paths as a roaming path of the room.
Optionally, the third determining module 203 is configured to:
performing hierarchical traversal starting from the bottommost node of the tree structure;
in each traversal process, selecting a target pixel point from pixel points covered by a room entrance corresponding to a node, taking the target pixel point as a starting point, determining a father node of the node, taking a pixel point occupied by a roaming path of a room corresponding to the father node as an end point, determining shortest paths between the starting point and all the end points, and determining the shortest path in all the shortest paths as a roaming path between the room corresponding to the node and the room corresponding to the father node.
Optionally, the generating module 204 is configured to:
selecting at least one type of the following position points on the roaming path in each room and the roaming path between the rooms as target camera point positions: an inflection point, a start point, an end point on the roaming path, and an intersection between the roaming paths.
Optionally, the apparatus 200 further comprises:
the clustering module is used for clustering all reachable pixel points in each room in the indoor scene and determining a central point of the clustering as a key position point;
the generation module 204 is configured to:
selecting at least one of the following types of candidate location points on the roaming path in each room and the roaming path between rooms: an inflection point, a start point, an end point on the roaming path, and an intersection point between the roaming paths;
and determining a target position point which enables communication between the key position points in the candidate position points, and determining the target position point and the key position points as a target camera point position.
Optionally, the generating module 204 is configured to:
taking all the key position points and the candidate position points as candidate camera point positions, taking each candidate camera point position as a node, establishing edges between nodes represented by the connectable candidate camera point positions to obtain a target graph structure, and determining a minimum spanning tree containing target nodes under the condition that additional nodes are allowed to be added according to the target graph structure, wherein the target nodes are the nodes corresponding to the key position points, and the additional nodes are the nodes corresponding to the target position points in the candidate position points;
and determining the target camera point position according to the position point represented by each node in the minimum spanning tree.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Based on the same inventive concept, the disclosed embodiments also provide a computer readable medium, on which a computer program is stored, which when executed by a processing device, implements the steps of any of the above-mentioned roaming path generating methods.
Based on the same inventive concept, an embodiment of the present disclosure further provides an electronic device, including:
a storage device having a computer program stored thereon;
processing means for executing the computer program in the storage means to implement the steps of any of the above-mentioned roaming path generation methods.
Referring now to FIG. 3, a block diagram of an electronic device 300 suitable for use in implementing embodiments of the present disclosure is shown. The terminal device in the embodiments of the present disclosure may include, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet computer), a PMP (portable multimedia player), a vehicle terminal (e.g., a car navigation terminal), and the like, and a stationary terminal such as a digital TV, a desktop computer, and the like. The electronic device shown in fig. 3 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 3, the electronic device 300 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 301 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)302 or a program loaded from a storage means 308 into a Random Access Memory (RAM) 303. In the RAM 303, various programs and data necessary for the operation of the electronic apparatus 300 are also stored. The processing device 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input/output (I/O) interface 305 is also connected to bus 304.
Generally, the following devices may be connected to the I/O interface 305: input devices 306 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 307 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage devices 308 including, for example, magnetic tape, hard disk, etc.; and a communication device 309. The communication means 309 may allow the electronic device 300 to communicate wirelessly or by wire with other devices to exchange data. While fig. 3 illustrates an electronic device 300 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication means 309, or installed from the storage means 308, or installed from the ROM 302. The computer program, when executed by the processing device 301, performs the above-described functions defined in the methods of the embodiments of the present disclosure.
It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, the communication may be performed using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: determining a target scene top view corresponding to an indoor scene; in the target scene top view, determining reachable pixel points which are not shielded by articles in the indoor scene, and determining a roaming path in each room in the indoor scene according to the reachable pixel points; determining a tree structure corresponding to the indoor scene, and determining a roaming path between rooms in the indoor scene according to the tree structure, wherein nodes in the tree structure represent the rooms in the indoor scene, and the relationship between the nodes is used for representing the communication relationship between the rooms in the indoor scene; and selecting a target camera point location from the roaming path in each room and the roaming paths among the rooms, and generating a user roaming path according to the target camera point location.
Computer program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including but not limited to an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present disclosure may be implemented by software or hardware. Wherein the name of a module in some cases does not constitute a limitation on the module itself.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Example 1 provides a roaming path generation method according to one or more embodiments of the present disclosure, including:
determining a target scene top view corresponding to an indoor scene;
in the target scene top view, determining reachable pixel points which are not shielded by articles in the indoor scene, and determining a roaming path in each room in the indoor scene according to the reachable pixel points;
determining a tree structure corresponding to the indoor scene, and determining a roaming path between rooms in the indoor scene according to the tree structure, wherein nodes in the tree structure represent the rooms in the indoor scene, and the relationship between the nodes is used for representing the communication relationship between the rooms in the indoor scene;
and selecting a target camera point location from the roaming path in each room and the roaming paths among the rooms, and generating a user roaming path according to the target camera point location.
Example 2 provides the method of example 1, the determining a target scene top view corresponding to an indoor scene, including:
determining an initial scene top view corresponding to the target scene;
and reducing the resolution of the initial scene top view to obtain a target scene top view corresponding to the indoor scene.
Example 3 provides the method of example 1, wherein determining a roaming path in each room in the indoor scene according to the reachable pixel points comprises:
taking all reachable pixel points in each room in the indoor scene as nodes, and establishing edges between the nodes represented by the adjacent reachable pixel points to obtain a graph structure corresponding to each room;
and aiming at each room, selecting a target pixel point from pixel points covered by the entrance of the room, taking the node represented by the target pixel point as a starting point, taking all nodes represented by the reachable pixel points in the room as end points respectively, determining shortest paths from the starting point to all the end points according to the graph structure, and selecting the longest path from all the shortest paths as a roaming path of the room.
Example 4 provides the method of any one of examples 1-3, wherein determining the roaming path between the rooms in the indoor scene according to the tree structure, includes:
performing hierarchical traversal starting from the bottommost node of the tree structure;
in each traversal process, selecting a target pixel point from pixel points covered by a room entrance corresponding to a node, taking the target pixel point as a starting point, determining a father node of the node, taking a pixel point occupied by a roaming path of a room corresponding to the father node as an end point, determining shortest paths between the starting point and all the end points, and determining the shortest path in all the shortest paths as a roaming path between the room corresponding to the node and the room corresponding to the father node.
Example 5 provides the method of any one of examples 1-3, wherein selecting the target camera point location in the roaming path in each room and the roaming path between rooms, includes:
selecting at least one type of the following position points on the roaming path in each room and the roaming path between the rooms as target camera point positions: an inflection point, a start point, an end point on the roaming path, and an intersection between the roaming paths.
Example 6 provides the method of any one of examples 1-3, further comprising, in accordance with one or more embodiments of the present disclosure:
for each room in the indoor scene, clustering all reachable pixel points in the room, and determining a central point of the clustering as a key position point;
selecting a target camera point location from the roaming path in each room and the roaming paths between the rooms, including:
selecting at least one of the following types of candidate location points on the roaming path in each room and the roaming path between rooms: an inflection point, a start point, an end point on the roaming path, and an intersection point between the roaming paths;
and determining a target position point which enables communication between the key position points in the candidate position points, and determining the target position point and the key position points as a target camera point position.
Example 7 provides the method of example 6, the determining, among the candidate location points, a target location point that enables communication between the key location points, and determining the target location point and the key location point as a target camera location point, including:
taking all the key position points and the candidate position points as candidate camera point positions, taking each candidate camera point position as a node, establishing edges between nodes represented by the connectable candidate camera point positions to obtain a target graph structure, and determining a minimum spanning tree containing target nodes under the condition that additional nodes are allowed to be added according to the target graph structure, wherein the target nodes are the nodes corresponding to the key position points, and the additional nodes are the nodes corresponding to the target position points in the candidate position points;
and determining the target camera point position according to the position point represented by each node in the minimum spanning tree.
Example 8 provides a roaming path generation apparatus, according to one or more embodiments of the present disclosure, the apparatus comprising:
the first determining module is used for determining a target scene top view corresponding to an indoor scene;
a second determining module, configured to determine, in the target scene top view, reachable pixel points where no article is blocked in the indoor scene, and determine, according to the reachable pixel points, a roaming path in each room in the indoor scene;
a third determining module, configured to determine a tree structure corresponding to the indoor scene, and determine a roaming path between rooms in the indoor scene according to the tree structure, where nodes in the tree structure represent the rooms in the indoor scene, and a relationship between the nodes is used to represent a connection relationship between the rooms in the indoor scene;
and the generation module is used for selecting a target camera point position from the roaming path in each room and the roaming paths among the rooms, and generating a user roaming path according to the target camera point position.
Example 9 provides a computer readable medium having stored thereon a computer program that, when executed by a processing apparatus, performs the steps of the method of any of examples 1-7, in accordance with one or more embodiments of the present disclosure.
Example 10 provides, in accordance with one or more embodiments of the present disclosure, an electronic device comprising:
a storage device having a computer program stored thereon;
processing means for executing the computer program in the storage means to carry out the steps of the method of any of examples 1-7.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents does not depart from the spirit of the disclosure. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.
Further, while operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims. With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Claims (10)
1. A roaming path generation method, the method comprising:
determining a target scene top view corresponding to an indoor scene;
in the target scene top view, determining reachable pixel points which are not shielded by articles in the indoor scene, and determining a roaming path in each room in the indoor scene according to the reachable pixel points;
determining a tree structure corresponding to the indoor scene, and determining a roaming path between rooms in the indoor scene according to the tree structure, wherein nodes in the tree structure represent the rooms in the indoor scene, and the relationship between the nodes is used for representing the communication relationship between the rooms in the indoor scene;
and selecting a target camera point location from the roaming path in each room and the roaming paths among the rooms, and generating a user roaming path according to the target camera point location.
2. The method of claim 1, wherein the determining a target scene top view corresponding to the indoor scene comprises:
determining an initial scene top view corresponding to the target scene;
and reducing the resolution of the initial scene top view to obtain a target scene top view corresponding to the indoor scene.
3. The method of claim 1, wherein determining a roaming path in each room of the indoor scene according to the reachable pixel points comprises:
taking all reachable pixel points in each room in the indoor scene as nodes, and establishing edges between the nodes represented by the adjacent reachable pixel points to obtain a graph structure corresponding to each room;
and aiming at each room, selecting a target pixel point from pixel points covered by the entrance of the room, taking the node represented by the target pixel point as a starting point, taking all nodes represented by the reachable pixel points in the room as end points respectively, determining shortest paths from the starting point to all the end points according to the graph structure, and selecting the longest path from all the shortest paths as a roaming path of the room.
4. The method of any of claims 1-3, wherein determining a roaming path between rooms in the indoor scene based on the tree structure comprises:
performing hierarchical traversal starting from the bottommost node of the tree structure;
in each traversal process, selecting a target pixel point from pixel points covered by a room entrance corresponding to a node, taking the target pixel point as a starting point, determining a father node of the node, taking a pixel point occupied by a roaming path of a room corresponding to the father node as an end point, determining shortest paths between the starting point and all the end points, and determining the shortest path in all the shortest paths as a roaming path between the room corresponding to the node and the room corresponding to the father node.
5. The method of any one of claims 1-3, wherein selecting the target camera point location in the roaming path in each room and the roaming path between rooms comprises:
selecting at least one type of the following position points on the roaming path in each room and the roaming path between the rooms as target camera point positions: an inflection point, a start point, an end point on the roaming path, and an intersection between the roaming paths.
6. The method according to any one of claims 1-3, further comprising:
for each room in the indoor scene, clustering all reachable pixel points in the room, and determining a central point of the clustering as a key position point;
selecting a target camera point location from the roaming path in each room and the roaming paths between the rooms, including:
selecting at least one of the following types of candidate location points on the roaming path in each room and the roaming path between rooms: an inflection point, a start point, an end point on the roaming path, and an intersection point between the roaming paths;
and determining a target position point which enables communication between the key position points in the candidate position points, and determining the target position point and the key position points as a target camera point position.
7. The method according to claim 6, wherein the determining, among the candidate position points, a target position point that enables communication between the key position points, and determining the target position point and the key position points as target camera point positions, comprises:
taking all the key position points and the candidate position points as candidate camera point positions, taking each candidate camera point position as a node, establishing edges between nodes represented by the connectable candidate camera point positions to obtain a target graph structure, and determining a minimum spanning tree containing target nodes under the condition that additional nodes are allowed to be added according to the target graph structure, wherein the target nodes are the nodes corresponding to the key position points, and the additional nodes are the nodes corresponding to the target position points in the candidate position points;
and determining the target camera point position according to the position point represented by each node in the minimum spanning tree.
8. A roaming path generation apparatus, characterized in that the apparatus comprises:
the first determining module is used for determining a target scene top view corresponding to an indoor scene;
a second determining module, configured to determine, in the target scene top view, reachable pixel points where no article is blocked in the indoor scene, and determine, according to the reachable pixel points, a roaming path in each room in the indoor scene;
a third determining module, configured to determine a tree structure corresponding to the indoor scene, and determine a roaming path between rooms in the indoor scene according to the tree structure, where nodes in the tree structure represent the rooms in the indoor scene, and a relationship between the nodes is used to represent a connection relationship between the rooms in the indoor scene;
and the generation module is used for selecting a target camera point position from the roaming path in each room and the roaming paths among the rooms, and generating a user roaming path according to the target camera point position.
9. A computer-readable medium, on which a computer program is stored, characterized in that the program, when being executed by processing means, carries out the steps of the method of any one of claims 1 to 7.
10. An electronic device, comprising:
a storage device having a computer program stored thereon;
processing means for executing the computer program in the storage means to carry out the steps of the method according to any one of claims 1 to 7.
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