CN113240769B - Spatial link relation identification method and device and storage medium - Google Patents

Spatial link relation identification method and device and storage medium Download PDF

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CN113240769B
CN113240769B CN202110414608.9A CN202110414608A CN113240769B CN 113240769 B CN113240769 B CN 113240769B CN 202110414608 A CN202110414608 A CN 202110414608A CN 113240769 B CN113240769 B CN 113240769B
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room
rooms
door
matrix
coordinate
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CN113240769A (en
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杨毅
段小军
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Beijing Chengshi Wanglin Information Technology Co Ltd
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Beijing Chengshi Wanglin Information Technology Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/20—Drawing from basic elements, e.g. lines or circles
    • G06T11/206—Drawing of charts or graphs
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods

Abstract

A method, a device and a storage medium for identifying spatial link relation are provided, the method comprises the following steps: acquiring panoramic pictures and room position information of each room in a plurality of rooms of a house type; obtaining local position information of a door in a plurality of rooms based on the panoramic picture of each room; for each room, obtaining a first displacement matrix and a first rotation matrix corresponding to the room based on the room position information of the room; selecting one of the plurality of rooms as a reference coordinate system, transforming the first displacement matrix and the first rotation matrix of each of the plurality of rooms to the reference coordinate system to obtain a second displacement matrix and a second rotation matrix for each of the plurality of rooms; for each room in the plurality of rooms, obtaining a second coordinate of a door in the room according to the second displacement matrix and the second rotation matrix of the room and the first coordinate of the door in the room; and obtaining the linking relation of the plurality of rooms according to the second coordinate of the door of each room in the plurality of rooms.

Description

Spatial link relation identification method and device and storage medium
The patent application of the invention is a divisional application of Chinese invention patent application with the application date of 2019, 12 and 18 months and the application number of 201911312898.5 and the name of 'two-dimensional house-type diagram construction method and device and storage medium'.
Technical Field
The embodiment of the disclosure relates to a spatial link relation identification method and device and a storage medium.
Background
In the fields of house leasing, buying and selling, decoration and the like, a two-dimensional floor plan (namely a plane floor plan) of a house is important information. The two-dimensional house type graph enables a user to clearly recognize the division of the house function, and the user can also visually see the information such as the area, the size and the like among the functions. Therefore, the user can know the house condition without looking at the house on the spot, and the efficiency is improved.
Disclosure of Invention
At least one embodiment of the present disclosure provides a spatial link relationship identification method, including: acquiring panoramic pictures and room position information of each room in a plurality of rooms of a house type; obtaining local position information of a door in each of the plurality of rooms based on the panoramic picture of the room; obtaining the linking relation of the plurality of rooms based on the room position information of each room in the plurality of rooms and the local position information of the door in each room; and obtaining the two-dimensional indoor type graph according to the link relation of the rooms and the panoramic picture of each room in the rooms.
For example, in a method provided by an embodiment of the present disclosure, the room position information includes displacement coordinates and euler angles of an acquisition location of a panoramic picture of a corresponding room.
For example, in a method provided by an embodiment of the present disclosure, the panoramic picture is obtained by shooting through a panoramic camera.
For example, in a method provided by an embodiment of the present disclosure, the local position information of the door in each room includes a first coordinate of the door in the room, where the first coordinate is a normalized numerical value.
For example, in a method provided by an embodiment of the present disclosure, obtaining the linking relationship of the multiple rooms based on the room position information of each of the multiple rooms and the local position information of the door in each of the multiple rooms includes: for each room in the plurality of rooms, obtaining a first displacement matrix and a first rotation matrix corresponding to the room based on the room position information of the room; selecting one of the plurality of rooms as a reference coordinate system, transforming a first displacement matrix and a first rotation matrix for each of the plurality of rooms to the reference coordinate system to obtain a second displacement matrix and a second rotation matrix for each of the plurality of rooms; for each room in the plurality of rooms, obtaining a second coordinate of a door in the room according to the second displacement matrix and the second rotation matrix of the room and the first coordinate of the door in the room; and obtaining the link relation of the plurality of rooms according to the second coordinate of the door of each room in the plurality of rooms.
For example, in a method provided by an embodiment of the present disclosure, for each room in the plurality of rooms, obtaining a first displacement matrix and a first rotation matrix corresponding to the room based on room position information of the room includes: calculating a camera angle of a panoramic picture of the room; based on the room position information and the camera angle for the room, a first displacement matrix and a first rotation matrix corresponding to the room are derived.
For example, in one embodiment of the present disclosure, the elements of the first displacement matrix are normalized values.
For example, in a method provided by an embodiment of the present disclosure, the camera angle is a relative angle of a panoramic camera taking a panoramic picture of the room and an euler angle in room position information of the room on a horizontal plane.
For example, in the method provided by an embodiment of the present disclosure, for each room in the plurality of rooms, the second displacement matrix and the second rotation matrix of the room may be calculated by using the following formulas: M0M 1M 1-1Where M1 is a combined matrix of the second displacement matrix and the second rotation matrix of the room, M1 is a combined matrix of the first displacement matrix and the first rotation matrix of the room, and M0 is a combined matrix of the first displacement matrix and the first rotation matrix of the room as a reference coordinate system.
For example, in the method provided by an embodiment of the present disclosure, for each room in the plurality of rooms, the second coordinate of the door in the room may be calculated by using the following formula: r2 ═ M1 × R1, where R2 is the second coordinate of the door in the room and R1 is the first coordinate of the door in the room.
For example, in a method provided by an embodiment of the present disclosure, obtaining the linking relationship of the plurality of rooms according to the second coordinate of the door of each of the plurality of rooms includes: reducing the dimension of the second coordinate and rotating to obtain a third coordinate, so that the door corresponding to the third coordinate is parallel to the first axis; and sequentially judging and obtaining the linking relation of the doors in the plurality of rooms.
For example, in a method provided by an embodiment of the present disclosure, sequentially determining and obtaining the linking relationships of doors in the plurality of rooms includes: for each door, selecting the door closest to the door according to the third coordinate and judging whether the distance between the two doors is smaller than a preset threshold value or not; and if the distance is smaller than the preset threshold value, determining that the two doors have a link relation.
For example, in a method provided by an embodiment of the present disclosure, obtaining the two-dimensional floor plan according to the link relationship of the plurality of rooms and the panoramic picture of each of the plurality of rooms includes: processing the panoramic picture to obtain a two-dimensional plane map of each room in the plurality of rooms; and combining the two-dimensional plane maps of each room in the plurality of rooms according to the link relation of the plurality of rooms to obtain the two-dimensional floor plan.
At least one embodiment of the present disclosure further provides a spatial link relationship recognition apparatus, including: an acquisition unit configured to acquire a panoramic picture and room position information of each of a plurality of rooms of a house type; a local position information generating unit configured to obtain local position information of a door in each of the plurality of rooms based on the panoramic picture of the room; a link relation determination unit configured to obtain link relations of the plurality of rooms based on room position information of each of the plurality of rooms and local position information of a door in each of the plurality of rooms; and the two-dimensional house type graph determining unit is configured to obtain the two-dimensional house type graph according to the link relation of the plurality of rooms and the panoramic picture of each room in the plurality of rooms.
At least one embodiment of the present disclosure further provides a spatial link relationship recognition apparatus, including: a processor; a memory including one or more computer program modules; wherein the one or more computer program modules are stored in the memory and configured to be executed by the processor, the one or more computer program modules comprising instructions for implementing the spatial link relationship identification method of any embodiment of the present disclosure.
At least one embodiment of the present disclosure also provides a storage medium for storing non-transitory computer readable instructions, which can implement the spatial link relationship identification method according to any embodiment of the present disclosure when the non-transitory computer readable instructions are executed by a computer.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below, and it is apparent that the drawings in the following description only relate to some embodiments of the present disclosure and do not limit the present disclosure.
Fig. 1A is a schematic flowchart of a spatial link relationship identification method according to an embodiment of the present disclosure;
FIG. 1B is a flow chart illustrating steps of another spatial link relationship identification method in an embodiment of the present invention;
FIG. 2A is a top view of a house type;
FIG. 2B is a perspective view of a first room in the dwelling of FIG. 2A;
FIG. 2C is a top view of the first room in the dwelling of FIG. 2A;
FIG. 3 is a schematic flow chart of step S30 of the method shown in FIG. 1A;
FIG. 4 is a schematic diagram of the door position of the house shown in FIG. 2A;
FIG. 5 is a schematic flow chart of step S40 of the method shown in FIG. 1A;
FIG. 6 is a system that may be used to implement the spatial link relationship identification method provided by embodiments of the present disclosure;
fig. 7 is a schematic block diagram of a spatial link relationship identification apparatus according to an embodiment of the present disclosure;
fig. 8 is a schematic block diagram of another spatial link relation recognition apparatus provided in an embodiment of the present disclosure;
fig. 9 is a schematic block diagram of another spatial link relation recognition apparatus provided in an embodiment of the present disclosure; and
fig. 10 is a schematic diagram of a storage medium according to an embodiment of the disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings of the embodiments of the present disclosure. It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without any inventive step, are within the scope of protection of the disclosure.
Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Also, the use of the terms "a," "an," or "the" and similar referents do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Typically, the two-dimensional house type graph can be manually drawn manually or generated by software. When manual drawing is adopted, the obtained two-dimensional user-type diagram has larger information errors such as the area, the size and the like, longer required time and lower efficiency. When software generation is adopted, the link relation between rooms, namely the link relation between doors, needs to be determined manually, and based on the link relation, the software generates a two-dimensional floor plan according to the room plan of each room which is independent of each other. For example, the user acquires information of rooms, such as the position of doors, arrangement in the rooms, and the like, by observing pictures of the respective rooms, and then comprehensively judges from the acquired information to determine the link relationship between the respective rooms. The link relation needs to be determined manually, so that the time is long, the efficiency is low, and the accuracy of the determined link relation is not high enough because the manual intervention has the possibility of misjudgment.
At least one embodiment of the disclosure provides a spatial link relation identification method and device and a storage medium. The spatial link relation identification method can automatically determine the link relation among the rooms to generate the two-dimensional house type graph, does not need manual determination, can save time and improve efficiency, and is beneficial to improving accuracy.
Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. It should be noted that the same reference numerals in different figures will be used to refer to the same elements that have been described.
At least one embodiment of the present disclosure provides a spatial link relation recognition method. The spatial link relation identification method comprises the following steps: acquiring panoramic pictures and room position information of each room in a plurality of rooms of a house type; obtaining local position information of a door in a plurality of rooms based on the panoramic picture of each room in the rooms; obtaining a linking relation of the plurality of rooms based on the room position information of each room in the plurality of rooms and the local position information of the door in each room; and obtaining a two-dimensional indoor type graph according to the link relation of the rooms and the panoramic pictures of each room in the rooms.
Fig. 1A is a schematic flowchart of a spatial link relationship identification method according to an embodiment of the present disclosure. As shown in FIG. 1A, in at least one embodiment, the method includes the following operations.
Step S10: acquiring panoramic pictures and room position information of each room in a plurality of rooms of a house type;
step S20: obtaining local position information of a door in a plurality of rooms based on the panoramic picture of each room;
step S30: obtaining a linking relation of the plurality of rooms based on the room position information of each room in the plurality of rooms and the local position information of the door in each room;
step S40: and obtaining a two-dimensional indoor type graph according to the link relation of the rooms and the panoramic pictures of each room in the rooms.
For example, in step S10, a certain house type has a plurality of rooms having different functional divisions and communicating with each other through doors. For example, a panoramic camera may be used to take a picture in each room, thereby obtaining a panoramic picture of each room. The panoramic camera may implement 360-degree panoramic shooting, for example, the panoramic camera may be of an optical law type, a nodal type, or a prism scanning type, and the embodiments of the present disclosure are not limited thereto.
For example, a panoramic picture is a group of pictures including a plurality of pictures of a scene of a shooting location. For example, the panoramic picture includes a scene picture of a plurality of orientations, such as front, rear, left, right, up, down, and the like, at the shooting location. For example, in some examples, a panoramic camera may be provided at a shooting location in a room, and the shooting results in a picture (i.e., a photograph) of a scene on four walls, front, back, left, right, etc., of the shooting location, and the shooting results in a picture (i.e., a photograph) of a scene on the ceiling above the shooting location and a picture (i.e., a photograph) of a scene on the floor below the shooting location. Thereby, a panoramic picture of the room can be obtained.
It should be noted that, in the embodiment of the present disclosure, an obtaining manner of the panoramic image is not limited, and may be determined according to actual requirements. The number of a group of pictures included in the panoramic picture is not limited, and may be 6 (i.e. pictures corresponding to 6 orientations such as front, rear, left, right, up and down, so as to present a complete and comprehensive scene), or 5 (i.e. pictures corresponding to 5 orientations such as front, rear, left, right and up, so as to omit pictures corresponding to the lower side, so as to reduce the amount of data), which may be determined according to actual requirements.
For example, the room position information includes displacement coordinates and euler angles of acquisition places (i.e., shooting places) of panoramic pictures of the corresponding rooms. For example, when taking a panoramic picture, a mobile terminal is used to work with a panoramic camera. The mobile terminal and the panoramic camera are arranged at a shooting place, and the relative positions of the mobile terminal and the panoramic camera are fixed. The mobile terminal is any suitable device, such as a mobile phone, a tablet computer, and the like, and the embodiments of the disclosure are not limited thereto. The mobile terminal runs instant positioning And mapping software, such as slam (simultaneous Localization And mapping), And the software can obtain the displacement coordinates And euler angles of the acquisition location (i.e., shooting location).
For example, the displacement coordinates are three-dimensional coordinates, and the displacement coordinates represent displacement information of the shooting location. For example, the euler angle may be expressed by a quaternion, and represents angle information of a photographing place. Here, the euler angle may be, for example, an angle of a main view shooting azimuth of the panoramic camera, and the euler angle may be obtained by aligning the orientation of the mobile terminal with the main view shooting azimuth of the panoramic camera. For example, the displacement coordinates and the euler angles are both referenced to the actual environment. For a detailed description of the displacement coordinates, euler angles, and the acquisition of room position information using the instant positioning and mapping software, reference may be made to conventional designs, which are not described in detail herein.
For example, as shown in fig. 2A, the house type has 3 rooms, a first room, a second room, and a third room. By photographing each room in turn using a panoramic camera at photographing points Q1, Q2, and Q3, respectively, and operating the mobile terminal cooperatively, it is possible to obtain a panoramic picture of each room and room position information of each room, i.e., displacement coordinates and euler angles of Q1, Q2, and Q3.
For example, in step S20, the local position information of the door in each room includes the first coordinates of the door in the room. For example, as shown in fig. 2B, the shooting location of the first room is Q1, and the position of the door in the first room is represented by four corner points, i.e., a1-a 4. For example, the panoramic picture of the first room may be processed by a general three-dimensional editing tool, such as modeling, feature extraction, calculation, and the like, so that the coordinates of the four corner points a1-a4 of the door in the first room may be obtained. For a detailed description of obtaining the coordinates of A1-A4, reference may be made to conventional designs, which are not described in detail herein. Here, the coordinates of the four corner points a1-a4 are local coordinates, that is, the coordinates of a1-a4 are based on the first room as a reference coordinate system, and have no relation with other rooms (e.g., the second room and the third room). As shown in fig. 2C, in top view, since A3 overlaps a2 and a4 overlaps a1, only a1 and a2 are processed during subsequent processing, and A3 and a4 are not considered.
For example, the coordinates of a1 and a2 need to be normalized. As shown in fig. 2C, the normalized y-axis coordinate of the point a2 may be L1/L2, L1 is the ordinate of the point a2 obtained by the three-dimensional editing tool, and L2 is the ordinate of the corner point K of the first room. Similarly, the coordinates of a1 and a2 are normalized in a similar manner, resulting in two normalized coordinates, a1(x1, y1, z1) and a2(x2, y2, z 2). The local position information of the door in the first room includes first coordinates of the door in the first room, i.e., a1(x1, y1, z1) and a2(x2, y2, z2), which are normalized numerical values.
For example, step S30 shown in fig. 1A may further include the following operations as shown in fig. 3. Accordingly, fig. 1B is a flowchart illustrating steps of a spatial link relation identification method.
Step S31: for each room in a plurality of rooms, based on the room position information of the room, obtaining a first displacement matrix and a first rotation matrix corresponding to the room;
step S32: selecting one of the plurality of rooms as a reference coordinate system, transforming the first displacement matrix and the first rotation matrix of each of the plurality of rooms to the reference coordinate system to obtain a second displacement matrix and a second rotation matrix for each of the plurality of rooms;
step S33: for each room in the plurality of rooms, obtaining a second coordinate of a door in the room according to the second displacement matrix and the second rotation matrix of the room and the first coordinate of the door in the room;
step S34: and obtaining the linking relation of the plurality of rooms according to the second coordinate of the door of each room in the plurality of rooms.
For example, in step S31, the camera angle of the panoramic picture of the room is first calculated. For example, the camera angle is a relative angle of a panoramic camera taking a panoramic picture of the room and an euler angle in the room position information of the room on a horizontal plane. Since the euler angle in the room location information is obtained by the mobile device, the euler angle is the angle of the mobile device. In actual practice, the orientation of the panoramic camera and the mobile device used to obtain room location information may not be exactly the same, with an error between the two. Therefore, to eliminate the error, it is necessary to calculate a camera angle of the panoramic picture of the room.
For example, a strip-shaped color block may be arranged on the side of the mobile device facing the panoramic camera, the mobile device is positioned below the panoramic camera, and then a series of processes and calculations such as image recognition and feature extraction are performed on a shot picture, so as to obtain the camera angle. For example, in some examples, a projection of an elongated patch of color may be identified from the acquired image and an outline of the projection of the elongated patch of color may be calculated and an extending direction of the outline of the projection of the elongated patch of color may be taken as an extending direction of the outline of the projection of the mobile device. Then, an angle between the extending direction of the projected outline of the mobile device and the orientation of the panoramic camera in the horizontal plane is calculated, and the angle is the camera angle. For example, the orientation of the panoramic camera in the horizontal plane is the main view shooting orientation of the panoramic camera.
For example, in step S31, after the camera angle is obtained, based on the room position information and the camera angle of the room, the first displacement matrix and the first rotation matrix corresponding to the room are obtained. For example, the room position information is the displacement coordinates and euler angles of the acquisition locations of the panoramic pictures of the room, and the related description may refer to the foregoing contents, which are not described herein again. For example, the displacement coordinates may be represented as a column vector, i.e. a matrix represented as 3 x1, which is referred to as the initial displacement matrix. For example, the euler angles can be converted into a rotation matrix by a general mathematical operation method, wherein the rotation matrix is a3 × 3 matrix and is called an initial rotation matrix.
For example, the initial displacement matrix and/or the initial rotation matrix are corrected by the camera angle to eliminate an error existing between the orientation of the panoramic camera and the mobile device, thereby obtaining a first displacement matrix and a first rotation matrix. For example, the camera angle may be converted to a3 × 3 matrix and then multiplied by the initial displacement matrix and the initial rotation matrix, respectively, to obtain a first displacement matrix and a first rotation matrix, respectively. Of course, the embodiments of the present disclosure are not limited thereto, and according to actual requirements, the camera angle is converted into a3 × 3 matrix and then multiplied by the initial rotation matrix to obtain the first rotation matrix, and the camera angle converted matrix is not multiplied by the initial displacement matrix any more, at this time, the first displacement matrix is equal to the initial displacement matrix.
For example, the first displacement matrix is a3 × 1 matrix, and the elements of the first displacement matrix are normalized numerical values. For the normalization, reference may be made to a general matrix normalization, and details thereof are not described here. For example, the first rotation matrix is a3 × 3 matrix.
It should be noted that, in the embodiment of the present disclosure, the calculation manner of the first displacement matrix and the first rotation matrix is not limited to the manner described above, and the step of calculating the camera angle may be omitted, and the displacement coordinates and the euler angle may be directly converted into the first displacement matrix and the first rotation matrix. For example, in other examples, when the requirement on the calculation accuracy is low and the calculation efficiency needs to be improved, the displacement coordinates and the euler angles obtained by the mobile device may be directly converted into a first displacement matrix and a first rotation matrix, where the first displacement matrix is a matrix form of the displacement coordinates, and the first rotation matrix may be obtained by converting the euler angles according to a common mathematical calculation method.
For example, in step S32, in order to unify all rooms in the same coordinate system, the first displacement matrix and the first rotation matrix for each room need to be transformed. For example, taking the house type shown in fig. 2A as an example, a first room is selected as a reference coordinate system, a first displacement matrix and a first rotation matrix of a second room and a first displacement matrix and a first rotation matrix of a third room are both transformed to the reference coordinate system, thereby obtaining a second displacement matrix and a second rotation matrix of the second room, and obtaining a second displacement matrix and a second rotation matrix of the third room. Of course, a second displacement matrix and a second rotation matrix of the first room may also be obtained, and since the first room itself is the reference coordinate system, the second displacement matrix and the second rotation matrix of the first room are identity matrices.
For example, in one example, the first displacement matrix for the first room is tn1The first rotation matrix of the first room is Rn1First displacement matrix t of the first roomn1And a first rotation matrix Rn1Is m 0. For example, m0 may be a3 × 4 matrix or a4 × 4 matrix. For example, when m0 is a4 x 4 matrix, R will ben1And tn1Splicing into 3 x 4 matrix and then complementing one row [ 0001%]To form a4 x 4 matrix, resulting in m 0. By introducing the merging matrix m0, the subsequent calculation can be facilitated, and the calculation flow is simplified.
Similarly, the first displacement matrix for the second room is tn2The first rotation matrix of the second room is Rn2First displacement matrix t of the second roomn2And a first rotation matrix Rn2Is m 1. For example, m1 may be a3 × 4 matrix or a4 × 4 matrix. For example, when m1 is a4 x 4 matrix, R will ben2And tn2Splicing into 3 x 4 matrix and then complementing one row [ 0001%]To form a4 x 4 matrix, resulting in m 1.
Similarly, the first displacement matrix of the third room is tn3The first rotation matrix of the third room is Rn3First displacement matrix t of the third roomn3And a first rotation matrix Rn3Is m 2. For example, m2 may be a3 × 4 matrix or a4 × 4 matrix. For example, when m2 is a4 x 4 matrix, R will ben3And tn3Splicing into 3 x 4 matrix and then complementing one row [ 0001%]To form a4 x 4 matrix, resulting in m 2.
For the first room, the second displacement matrix and the second rotation matrix for the first room may be calculated using the following equations: m0 ═ M0 ═ M0-1E. Here, M0 is a merged matrix of the second displacement matrix and the second rotation matrix of the first room, M0-1Is the inverse of m0, and E is the identity matrix. When M0 is a4 × 4 matrix, M0 is also a4 × 4 matrix, and in M0, the elements in the first row to the third row and the first column to the third column are the second rotation matrix, and the fourth rotation matrixThe elements in the first to third rows of the columns are the second shift matrix.
For the second room, the second displacement matrix and the second rotation matrix for the second room may be calculated using the following equations: M0M 1M 1-1. Here, M1 is a merged matrix of a second displacement matrix and a second rotation matrix of the second room, M1-1Is the inverse matrix of m 1. When M1 is a4 × 4 matrix, M1 is also a4 × 4 matrix, and in M1, the elements in the first row to the third row and the first column to the third column are the second rotation matrix, and the elements in the first row to the third row in the fourth column are the second displacement matrix.
For the third room, the second displacement matrix and the second rotation matrix for the third room may be calculated using the following equations: M0M 2M 2-1. Here, M2 is a merged matrix of a second displacement matrix and a second rotation matrix of a third room, M2-1Is the inverse matrix of m 2. When M2 is a4 × 4 matrix, M2 is also a4 × 4 matrix, and in M2, the elements in the first row to the third row and the first column to the third column are the second rotation matrix, and the elements in the first row to the third row in the fourth column are the second displacement matrix.
Through the above calculation, the first displacement matrix and the first rotation matrix of each of the first room, the second room and the third room can be transformed to the reference coordinate system, that is, to the coordinate system of the first room, and the obtained second displacement matrix and second rotation matrix of each room are in the same coordinate system.
In the above example, since the first room is used as the reference coordinate system, the first displacement matrix t of the first room is used when the second displacement matrix and the second rotation matrix of each room are calculatedn1And a first rotation matrix Rn1The merging matrix m0 is used as a reference, that is, m0 needs to be introduced into the above calculation formula. Of course, the embodiment of the present disclosure is not limited thereto, and in other examples, any one room may be selected as the reference coordinate system, and is not limited to the first room, and accordingly, the above calculation formula needs to introduce a combination matrix of the first displacement matrix and the first rotation matrix of the room.
For example, in step S33, the second coordinate of the door in the room can be obtained according to the second displacement matrix and the second rotation matrix of the room and the first coordinate of the door in the room.
For example, for a first room, the second coordinate of the door in that room may be calculated using the following formula: r2 ═ M0 × R1. Here, R2 is the second coordinate of the door in the first room, and R1 is the first coordinate of the door in the first room. Note that when M0 is a4 × 4 matrix, R1 and R2 are both 4 × 1 column vectors for ease of calculation. At this time, the first three rows of elements of R1 are the first coordinates, and the fourth row of elements of R1 may be complemented by 1 or 0, so that the first three rows of elements of R2 are the second coordinates, and the fourth row of elements of R2 are invalid values, which may be discarded.
Similarly, for a second room, a second coordinate of a door in the room may be calculated using the following formula: r2 ═ M1 × R1. Here, R2 is the second coordinate of the door in the second room, and R1 is the first coordinate of the door in the second room. Note that when M1 is a4 × 4 matrix, R1 and R2 are both 4 × 1 column vectors for ease of calculation. At this time, the first three rows of elements of R1 are the first coordinates, and the fourth row of elements of R1 may be complemented by 1 or 0, so that the first three rows of elements of R2 are the second coordinates, and the fourth row of elements of R2 are invalid values, which may be discarded.
Similarly, for a third room, the second coordinate of the door in that room can be calculated using the following formula: r2 ═ M2 × R1. Here, R2 is the second coordinate of the door in the third room, and R1 is the first coordinate of the door in the third room. Note that when M2 is a4 × 4 matrix, R1 and R2 are both 4 × 1 column vectors for ease of calculation. At this time, the first three rows of elements of R1 are the first coordinates, and the fourth row of elements of R1 may be complemented by 1 or 0, so that the first three rows of elements of R2 are the second coordinates, and the fourth row of elements of R2 are invalid values, which may be discarded.
Through the calculation, the first coordinates of the doors in all the rooms are converted into the same coordinate system, namely, the second coordinates of the doors in all the rooms are in the same coordinate system, so that the doors in all the rooms are comparable to each other.
It should be noted that, although the first coordinates of the doors of the respective rooms are all represented by R1 and the second coordinates of the doors of the respective rooms are all represented by R2, the first coordinates of the doors of the respective rooms are not the same, and the second coordinates of the doors of the respective rooms are not the same.
For example, the second coordinates of each door include coordinates of two points, i.e., a1 and a2 shown in fig. 2B and 2C. In an actual environment, the wall between the rooms has a certain thickness, and there is an error in actually collecting the room position information, so as shown in fig. 4, although the first room and the second room are communicated through the same door S1, the second coordinate of the door S1 in the first room and the second coordinate of the door S1 'in the second room obtained through the above calculation are not the same (i.e., S1 and S1' do not overlap), and there is a certain distance therebetween. Similarly, in the other doors of the house type, the second coordinate of the door obtained in the different rooms is different for any one door.
For example, in step S34, the second coordinate is first reduced in dimension and rotated to obtain a third coordinate, and the door corresponding to the third coordinate is made parallel to the first axis. For example, for each door, the second coordinates include coordinates of two points, and the coordinates of each point are three-dimensional coordinates. Therefore, the element representing the altitude in the three-dimensional coordinates may be discarded, and only the remaining two elements representing the positions in the horizontal plane may be retained, thereby reducing the coordinates of each point to two-dimensional coordinates. For the convenience of comparison in the subsequent steps, for each door, the two-dimensional coordinates of two points of the door can be rotated in the horizontal plane, so that the door represented by the two points is parallel to the first axis, and the coordinates of the two points after rotation are the third coordinates. For example, the first axis may be an x axis or a y axis in a horizontal plane, and may also be a user-defined axis, which may be determined according to actual needs, and embodiments of the present disclosure are not limited thereto. For example, a midpoint between two points may be taken as a rotation center, and the two points may be rotated around the rotation center to obtain the third coordinate.
It should be noted that, in the embodiment of the present disclosure, the second coordinate may not be rotated, and only the dimension of the second coordinate is reduced to perform the operation of the subsequent step, that is, the third coordinate at this time is equal to the coordinate after the dimension reduction of the second coordinate, which may be determined according to an actual requirement, and the embodiment of the present disclosure is not limited to this.
After the third coordinate of each door is obtained, the linking relations of the doors in the plurality of rooms are sequentially judged and obtained. For example, for each door, according to the third coordinate of the door, the door closest to the door is selected and whether the distance between the two doors is smaller than a preset threshold value is judged. If the distance between the two doors is smaller than the preset threshold, it is determined that the two doors have a link relationship, that is, the two doors are the same door in the actual environment.
For example, in one example, as shown in fig. 4, for each door, two points (i.e., two end points) of the door can be used to represent the door, and thus the coordinates of the middle point of the door can be calculated according to the coordinates of the two points (i.e., the third coordinate). For the door S1 in the first room, the coordinates of the midpoint are obtained from the third coordinates of the door S1, and then the door closest to the door S1, i.e., the door S1' of the second room, is selected according to the coordinates of the midpoint. For example, the midpoints of all doors can be calculated, and the closest midpoint among the midpoints can be selected, and the door corresponding to the midpoint is the closest door. Then, the distance between the door S1 and the door S1 'is calculated, for example, the distance between the midpoint of the door S1 and the midpoint of the door S1' is calculated, and it is determined whether the distance is smaller than a preset threshold value. If the distance is smaller than the preset threshold, it may be determined that the door S1 and the door S1 'have a linking relationship, that is, the door S1 and the door S1' are the same door in the actual environment. By traversing all the doors by adopting the method, the link relation among the first room, the second room and the third room, namely the communication relation among the first room, the second room and the third room, can be obtained.
It should be noted that, in the embodiment of the present disclosure, the preset threshold may be any value, which may be determined according to an empirical value or according to a user requirement, and the embodiment of the present disclosure is not limited to this. For example, the distance between the nearest door and the calculated door is not limited to be calculated according to the coordinates of the midpoint of the door, and any other suitable method may be adopted, which may be determined according to actual needs, and the embodiment of the disclosure is not limited thereto.
For example, step S40 shown in fig. 1A may further include the following operations as shown in fig. 5.
Step S41: processing the panoramic picture to obtain a two-dimensional plane graph of each room in the plurality of rooms;
step S42: and combining the two-dimensional plane maps of each room in the plurality of rooms according to the link relation of the plurality of rooms to obtain a two-dimensional floor plan.
For example, in step S41, the panoramic picture may be processed by a general three-dimensional editing tool, such as modeling and calculation, to obtain a two-dimensional plan view of the corresponding room. For example, in some examples, a panoramic picture may be utilized for three-dimensional modeling, and then the three-dimensional model of the room may be reduced in dimension to generate a two-dimensional plan view of the room. For example, in other examples, a panoramic picture may be utilized for room contour extraction and calculation, such that a two-dimensional plan of the room may be drawn. For example, in still other examples, since modeling is already performed from the panoramic picture when calculating the local position information of the door in step S20 described above, a two-dimensional plan view of the room is already obtained in step S20 and is directly adopted in step S41. Of course, the embodiments of the present disclosure are not limited thereto, and a two-dimensional plan view of each room may be obtained in any manner.
For example, in step S42, since the link relationships of the plurality of rooms, that is, the connection relationships of the plurality of rooms have been obtained, the two-dimensional plan views of each of the plurality of rooms are combined according to the connection relationships of the plurality of rooms, so that a two-dimensional floor plan can be obtained.
Therefore, the required two-dimensional floor plan can be obtained by the spatial link relation identification method. The spatial link relation identification method can automatically determine the link relation between the rooms without manual determination, so that the time can be saved, the efficiency is improved, the accuracy is improved, and the two-dimensional household graph can more accurately reflect the actual room condition.
Fig. 6 is a system that can be used to implement the spatial link relationship identification method provided by the embodiments of the present disclosure. As shown in fig. 6, the system 100 may include a user terminal 110, a network 120, a server 130, and a database 140. For example, the system 100 may be used to implement the spatial link relationship identification method according to any embodiment of the present disclosure.
The user terminal 110 is, for example, a computer 110-1 or a mobile phone 110-2. It is to be appreciated that the user terminal 110 may be any other type of electronic device capable of performing data processing, which may include, but is not limited to, a desktop computer, a laptop computer, a tablet computer, a smartphone, a smart home device, a wearable device, an in-vehicle electronic device, a monitoring device, and so forth. The user terminal 110 may also be any equipment provided with an electronic device, such as a vehicle, a robot, etc.
The user may operate an application installed on the user terminal 110, and the application may transmit user behavior data to the server 130 through the network 120, and the user terminal 110 may also receive data transmitted by the server 130 through the network 120. The user terminal 110 may implement the spatial link relationship identification method provided by the embodiment of the present disclosure by running a program or a thread, and transmit the obtained two-dimensional house type diagram to the server 130 through the network 120.
In some examples, the user terminal 110 may perform the spatial link relation recognition method using an application program built therein. In other examples, user terminal 110 may perform the spatial link relationship identification method by invoking an application program stored outside user terminal 110.
The network 120 may be a single network, or a combination of at least two different networks. For example, network 120 may include, but is not limited to, one or a combination of local area networks, wide area networks, public networks, private networks, and the like.
The server 130 may be a single server or a group of servers, each server in the group being connected via a wired or wireless network. A group of servers may be centralized, such as a data center, or distributed. The server 130 may be local or remote.
Database 140 may generally refer to a device having a storage function. The database 140 is mainly used to store various data utilized, generated, and outputted by the user terminal 110 and the server 130 in operation. For example, the database 140 stores a large amount of house source information, the server 130 reads the house source information required by the user from the database 140 and transmits the house source information to the user terminal 110 through the network 120, and the user terminal 110 displays a two-dimensional house type map of the house source, thereby facilitating the browsing of the user. The database 140 may be local or remote. The database 140 may include various memories such as a Random Access Memory (RAM), a Read Only Memory (ROM), and the like. The above-mentioned storage devices are only examples, and the storage devices that can be used by the system 100 are not limited thereto.
The database 140 may be interconnected or in communication with the server 130 or a portion thereof via the network 120, or directly interconnected or in communication with the server 130, or a combination thereof.
In some examples, database 140 may be a standalone device. In other examples, database 140 may also be integrated in at least one of user terminal 110 and server 130. For example, the database 140 may be provided on the user terminal 110 or may be provided on the server 130. For another example, the database 140 may be distributed, and a part thereof may be provided in the user terminal 110 and another part thereof may be provided in the server 130.
For example, in some examples, the user terminal 110 obtains the link relationship of the plurality of rooms after processing and calculation based on the panoramic picture and the room position information of each of the plurality of rooms, and then further obtains the two-dimensional floor plan. The two-dimensional house graph is transmitted to the server 130 via the network 120 and stored to the database 140. When other users use the house-viewing software on the user terminal 110 or other user terminals, the server 130 transmits the house source information browsed by the users to the user terminal 110 through the network 120, and the house source information includes a two-dimensional house type map of the house source. The house-viewing software on the user terminal 110 displays the two-dimensional house type graph of the house source, and the user can perform operations such as scaling, moving, marking and the like on the two-dimensional house type graph through clicking operation.
At least one embodiment of the present disclosure further provides a spatial link relationship recognition apparatus, which may automatically determine a link relationship between rooms to generate a two-dimensional house-type diagram, without manual determination, may save time, improve efficiency, and contribute to improvement of accuracy.
Fig. 7 is a schematic block diagram of an apparatus for identifying a spatial link relationship according to an embodiment of the present disclosure. As shown in fig. 7, the spatial link relationship recognition apparatus 200 includes an acquisition unit 210, a local location information generation unit 220, a link relationship determination unit 230, and a two-dimensional house type map determination unit 240. For example, the spatial link relation recognition apparatus 200 may be applied to an application (e.g., in two-dimensional user-type graph drawing software), and may also be applied to any device or system that needs to construct a two-dimensional user-type graph, which is not limited in this respect by the embodiment of the present disclosure.
The acquisition unit 210 is configured to acquire a panoramic picture and room position information of each of a plurality of rooms of a house type. For example, the obtaining unit 210 may perform step S10 of the spatial link relationship identification method shown in fig. 1A. The local position information generating unit 220 is configured to obtain local position information of a door in a plurality of rooms based on a panoramic picture of each of the rooms. For example, the local positional information generation unit 220 may perform step S20 of the spatial link relationship identification method as shown in fig. 1A. The link relation determination unit 230 is configured to obtain the link relation of the plurality of rooms based on the room position information of each of the plurality of rooms and the local position information of the door in each of the plurality of rooms. For example, the link relation determining unit 230 may perform step S30 of the spatial link relation recognition method as shown in fig. 1A. The two-dimensional house type map determining unit 240 is configured to obtain a two-dimensional house type map according to the link relationship of the plurality of rooms and the panoramic picture of each of the plurality of rooms. For example, the two-dimensional house view determination unit 240 may perform step S40 of the spatial link relationship identification method as shown in fig. 1A.
For example, the acquisition unit 210, the local location information generation unit 220, the link relationship determination unit 230, and the two-dimensional house type map determination unit 240 may be hardware, software, firmware, and any feasible combination thereof. For example, the acquiring unit 210, the local position information generating unit 220, the link relationship determining unit 230, and the two-dimensional house type diagram determining unit 240 may be a dedicated or general circuit, a chip, a device, or the like, or may be a combination of a processor and a memory. The embodiments of the present disclosure are not limited in this regard to the specific implementation forms of the above units.
It should be noted that, in the embodiment of the present disclosure, each unit of the spatial link relationship identification apparatus 200 corresponds to each step of the spatial link relationship identification method, and for a specific function of the spatial link relationship identification apparatus 200, reference may be made to the description related to the spatial link relationship identification method, which is not described herein again. The components and structure of the spatial link relationship recognition apparatus 200 shown in fig. 7 are only exemplary and not restrictive, and the spatial link relationship recognition apparatus 200 may further include other components and structures as necessary.
Fig. 8 is a schematic block diagram of another spatial link relation identification apparatus according to an embodiment of the present disclosure. As shown in fig. 8, the spatial link relation recognition apparatus 300 includes a processor 310 and a memory 320. Memory 320 is used to store non-transitory computer readable instructions (e.g., one or more computer program modules). The processor 310 is configured to execute non-transitory computer readable instructions, which when executed by the processor 310 may perform one or more steps of the spatial link relationship identification method described above. The memory 320 and the processor 310 may be interconnected by a bus system and/or other form of connection mechanism (not shown).
For example, the processor 310 may be a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Digital Signal Processor (DSP) or other form of processing unit having data processing capabilities and/or program execution capabilities, such as a Field Programmable Gate Array (FPGA), or the like; for example, the Central Processing Unit (CPU) may be an X86 or ARM architecture or the like. The processor 310 may be a general-purpose processor or a special-purpose processor, and may control other components in the spatial link relationship recognition apparatus 300 to perform desired functions.
For example, memory 320 may include any combination of one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. Volatile memory can include, for example, Random Access Memory (RAM), cache memory (or the like). The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, Erasable Programmable Read Only Memory (EPROM), portable compact disk read only memory (CD-ROM), USB memory, flash memory, and the like. One or more computer program modules may be stored on the computer-readable storage medium and executed by the processor 310 to implement the various functions of the spatial link relationship recognition apparatus 300. Various applications and various data, as well as various data used and/or generated by the applications, and the like, may also be stored in the computer-readable storage medium.
It should be noted that, in the embodiment of the present disclosure, reference may be made to the above description on the spatial link relationship identification method for specific functions and technical effects of the spatial link relationship identification apparatus 300, and details are not described herein again.
Fig. 9 is a schematic block diagram of another spatial link relation identification apparatus according to an embodiment of the present disclosure. The spatial link relation recognition apparatus 400 is, for example, suitable for implementing the spatial link relation recognition method provided by the embodiment of the disclosure. The spatial link relation recognition apparatus 400 may be a terminal device or the like. It should be noted that the spatial link relationship identification apparatus 400 shown in fig. 9 is only an example, and does not bring any limitation to the functions and the use range of the embodiment of the present disclosure.
As shown in fig. 9, the spatial link relationship recognition apparatus 400 may include a processing apparatus (e.g., a central processing unit, a graphic processor, etc.) 410, which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)420 or a program loaded from a storage device 480 into a Random Access Memory (RAM) 430. In the RAM430, various programs and data necessary for the operation of the spatial link relationship recognition apparatus 400 are also stored. The processing device 410, the ROM 420, and the RAM430 are connected to each other by a bus 440. An input/output (I/O) interface 450 is also connected to bus 440.
Generally, the following devices may be connected to the I/O interface 450: input devices 460 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 470 including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, or the like; storage 480 including, for example, magnetic tape, hard disk, etc.; and a communication device 490. The communication device 490 may allow the spatial link relationship recognition device 400 to perform wireless or wired communication with other electronic devices to exchange data. While fig. 9 illustrates the spatial link relationship identification apparatus 400 having various means, it is to be understood that not all illustrated means are required to be implemented or provided, and that the spatial link relationship identification apparatus 400 may alternatively be implemented or provided with more or less means.
For example, according to an embodiment of the present disclosure, the spatial link relationship identification method described above may be implemented as a computer software program. 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 comprising program code for performing the spatial link relationship identification method described above. In such embodiments, the computer program may be downloaded and installed from a network through communication device 490, or installed from storage device 480, or installed from ROM 420. When executed by the processing device 410, the computer program may perform the functions defined in the spatial link relationship identification method provided by the embodiments of the present disclosure.
At least one embodiment of the present disclosure also provides a storage medium for storing non-transitory computer-readable instructions, which can implement the spatial link relationship identification method according to any embodiment of the present disclosure when the non-transitory computer-readable instructions are executed by a computer. By using the storage medium, the link relation between the rooms can be automatically determined to generate the two-dimensional house type graph, manual determination is not needed, time can be saved, efficiency is improved, and accuracy is improved.
Fig. 10 is a schematic diagram of a storage medium according to an embodiment of the disclosure. As shown in fig. 10, the storage medium 500 is used to store non-transitory computer readable instructions 510. For example, the non-transitory computer readable instructions 510, when executed by a computer, may perform one or more steps of a method for spatial link relationship identification as described above.
For example, the storage medium 500 may be applied to the spatial link relationship recognition apparatus 300 described above. For example, the storage medium 500 may be the memory 320 in the spatial link relationship recognition apparatus 300 shown in fig. 8. For example, the related description about the storage medium 500 may refer to the corresponding description of the memory 320 in the spatial link relationship recognition apparatus 300 shown in fig. 8, and will not be repeated here.
The following points need to be explained:
(1) the drawings of the embodiments of the disclosure only relate to the structures related to the embodiments of the disclosure, and other structures can refer to common designs.
(2) Without conflict, embodiments of the present disclosure and features of the embodiments may be combined with each other to arrive at new embodiments.
The above description is only a specific embodiment of the present disclosure, but the scope of the present disclosure is not limited thereto, and the scope of the present disclosure should be subject to the scope of the claims.

Claims (12)

1. A spatial link relation recognition method is characterized by comprising the following steps:
acquiring panoramic pictures and room position information of each room in a plurality of rooms of a house type;
obtaining local position information of a door in each room based on the panoramic picture of each room in the plurality of rooms, wherein the local position information of the door in each room comprises first coordinates of the door in the room;
for each room in the plurality of rooms, obtaining a first displacement matrix and a first rotation matrix corresponding to the room based on the room position information of the room;
selecting one of the plurality of rooms as a reference coordinate system, transforming a first displacement matrix and a first rotation matrix for each of the plurality of rooms to the reference coordinate system to obtain a second displacement matrix and a second rotation matrix for each of the plurality of rooms;
for each room in the plurality of rooms, obtaining a second coordinate of a door in the room according to the second displacement matrix and the second rotation matrix of the room and the first coordinate of the door in the room;
and obtaining the link relation of the plurality of rooms according to the second coordinate of the door of each room in the plurality of rooms.
2. The method of claim 1, wherein the room location information comprises displacement coordinates and euler angles of an acquisition location of a panoramic picture of the corresponding room, the panoramic picture taken by a panoramic camera.
3. The method of claim 1, wherein for each room in the plurality of rooms, deriving a first displacement matrix and a first rotation matrix for the room based on room location information for the room comprises:
calculating a camera angle of a panoramic picture of the room;
based on the room position information and the camera angle for the room, a first displacement matrix and a first rotation matrix corresponding to the room are derived.
4. The method of claim 3, wherein the first coordinate is a normalized numerical value and the elements of the first displacement matrix are normalized numerical values.
5. The method of claim 3, wherein the camera angle is a relative angle of a panoramic camera taking a panoramic picture of the room and an Euler angle in the room location information of the room on a horizontal plane.
6. The method of claim 1, wherein for each room in the plurality of rooms, the second displacement matrix and the second rotation matrix for that room are calculated using the following equations:
M1＝m0*m1-1，
where M1 is a combined matrix of the second displacement matrix and the second rotation matrix of the room, M1 is a combined matrix of the first displacement matrix and the first rotation matrix of the room, and M0 is a combined matrix of the first displacement matrix and the first rotation matrix of the room as a reference coordinate system.
7. The method of claim 6, wherein for each of the plurality of rooms, the second coordinate of the door in the room is calculated using the formula:
R2＝M1*R1，
wherein R2 is the second coordinate of the door in the room, and R1 is the first coordinate of the door in the room.
8. The method of claim 1, wherein obtaining the linking relationship of the plurality of rooms according to the second coordinate of the door of each of the plurality of rooms comprises:
reducing the dimension of the second coordinate and rotating to obtain a third coordinate, so that a door corresponding to the third coordinate is parallel to a first axis, wherein the first axis is an x axis or a y axis in a horizontal plane or an axis defined by a user;
and sequentially judging and obtaining the linking relation of the doors in the plurality of rooms.
9. The method of claim 8, wherein sequentially determining and obtaining the linking relationships of the doors in the plurality of rooms comprises:
for each door, selecting the door closest to the door according to the third coordinate and judging whether the distance between the two doors is smaller than a preset threshold value or not;
and if the distance is smaller than the preset threshold value, determining that the two doors have a link relation.
10. An apparatus for identifying spatial link relationship, comprising:
an acquisition unit configured to acquire a panoramic picture and room position information of each of a plurality of rooms of a house type;
a local position information generating unit configured to obtain local position information of a door in each of the plurality of rooms based on the panoramic picture of the door in the room, the local position information of the door in each room including first coordinates of the door in the room;
a link relation determination unit configured to, for each of a plurality of rooms, obtain a first displacement matrix and a first rotation matrix corresponding to the room based on room position information of the room; selecting one of the plurality of rooms as a reference coordinate system, transforming the first displacement matrix and the first rotation matrix of each of the plurality of rooms to the reference coordinate system to obtain a second displacement matrix and a second rotation matrix for each of the plurality of rooms; for each room in the plurality of rooms, obtaining a second coordinate of a door in the room according to the second displacement matrix and the second rotation matrix of the room and the first coordinate of the door in the room; and obtaining the linking relation of the plurality of rooms according to the second coordinate of the door of each room in the plurality of rooms.
11. An apparatus for identifying spatial link relationship, comprising:
a processor;
a memory including one or more computer program modules;
wherein the one or more computer program modules are stored in the memory and configured to be executed by the processor, the one or more computer program modules comprising instructions for implementing the spatial link relationship identification method of any of claims 1-9.
12. A storage medium storing non-transitory computer-readable instructions, wherein the non-transitory computer-readable instructions, when executed by a computer, implement the spatial link relationship identification method according to any one of claims 1 to 9.
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