WO2016180218A1

WO2016180218A1 - Method for generating track line vertex sequence, terminal and server

Info

Publication number: WO2016180218A1
Application number: PCT/CN2016/080074
Authority: WO
Inventors: 谢思远
Original assignee: 腾讯科技（深圳）有限公司
Priority date: 2015-05-12
Filing date: 2016-04-22
Publication date: 2016-11-17
Also published as: CN104801044B; CN104801044A

Abstract

Provided are a method for generating a track line vertex sequence, a terminal and a server, wherein the method comprises the following steps of: acquiring a track grid vertex set; generating a midpoint path vertex set according to vertexes in the track grid vertex set; and sorting midpoint path vertexes to obtain a track line vertex sequence.

Description

Method, terminal and server for generating trajectory sequence of trajectory

The present application claims priority to Chinese Patent Application No. 201510240856.0, entitled "Method and Apparatus for Generating Trajectory Sequences of Vertex Lines", filed on May 12, 2015, the entire contents of which are incorporated herein by reference. In the application.

[Technical Field]

The present invention relates to the field of data processing, and in particular, to a method, terminal and server for generating a sequence of trajectory vertices.

【Background technique】

With the development of network technology, the network has become a part of people's lives, bringing more services and convenience to people's lives. Various application services have emerged, such as 3D parkour games. In the development of 3D parkour games, the virtual characters need to move according to the established track, and the established track movement requires a tool, that is, a trajectory. Different tracks correspond to different trajectories. Each new track needs to make a trajectory grid at the same time. The traditional way is to rely on artificially making trajectory grids and trajectories, resulting in low development efficiency.

[Summary of the Invention]

Based on this, it is necessary to provide a method, terminal and server for generating a trajectory sequence of trajectory lines for the traditional problem of relying on artificially making trajectories, resulting in low development efficiency, which can save labor costs and improve development efficiency.

A method of generating a sequence of trajectory vertices, comprising the steps of:

Obtain a trajectory grid vertex set;

Generating a midpoint system vertex set according

The vertices of the midpoint path vertex are sorted to obtain a trajectory vertex sequence.

A terminal, comprising a non-volatile storage medium and a processor, wherein the non-volatile storage medium stores instructions that, when executed by the processor, cause the processor to perform the following steps:

Obtain a trajectory grid vertex set;

Generating a midpoint system vertex set according

A server comprising a non-volatile storage medium and a processor, wherein the non-volatile storage medium stores instructions that, when executed by the processor, cause the processor to perform the following steps:

Obtain a trajectory grid vertex set;

Generating a midpoint system vertex set according

The method, the terminal and the server for generating a trajectory sequence of the trajectory line generate a midpoint system vertex set according to the vertices of the trajectory of the trajectory mesh, and sort the vertices of the vertex of the midpoint path to obtain a trajectory sequence of the trajectory line, thereby generating a trajectory line. It realizes automatic generation of trajectory lines according to the trajectory grid, without manual drawing, saving labor costs and improving development efficiency.

[Description of the Drawings]

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.

1 is a flow chart showing a method for generating a sequence of trajectory vertices in an embodiment;

2 is a schematic diagram of a trajectory grid;

Figure 3 is a schematic diagram of a vertex of a track;

4 is a schematic diagram of a trajectory path in a trajectory grid;

5 is a specific flowchart of generating a midpoint system vertex set according to a vertices of a trajectory of a trajectory grid in one embodiment;

6 is a specific flowchart of generating a midpoint system vertex set according to a vertex of a trajectory of a trajectory grid in another embodiment;

7 is a specific flowchart of sorting vertices of a vertex of a midpoint path to obtain a sequence of vertices of a trajectory line in one embodiment;

8 is a specific flowchart of sorting vertices of a vertex of a midpoint path to obtain a sequence of vertices of a trajectory line in another embodiment;

Figure 9 is a schematic diagram of a grid of tracks made on an arched road surface;

Figure 10 is an enlarged schematic view of the trajectory grid of Figure 9;

11 is a schematic diagram of a trajectory sequence of a trajectory line generated by a method for generating a trajectory of a trajectory line;

Figure 12 is a block diagram showing the structure of an apparatus for generating a sequence of trajectory vertices in one embodiment;

Figure 13 is a block diagram showing the internal structure of a generation module in an embodiment;

Figure 14 is a block diagram showing the internal structure of the sorting module in one embodiment;

Figure 15 is a block diagram of the internal structure of the terminal;

Figure 16 is a block diagram showing the internal structure of the server.

【detailed description】

In order to make the objects, technical solutions and advantages of the present invention more comprehensible, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

1 is a flow chart showing a method of generating a sequence of trajectory vertices in one embodiment. As shown in FIG. 1, the method for generating a sequence of trajectory vertices includes the following steps:

Step 102: Acquire a trajectory grid vertex set.

The trajectory grid is an infinite number of triangles. The trajectory mesh (Mesh) is a set of vertices of a 3D (three-dimensional) model, and contains three-dimensional coordinate data of each vertex. Get the vertices in the trajectory grid and add the vertices to the trajectory grid vertex set

2 is a schematic diagram of a trajectory grid. As shown in Figure 2, the trajectory grid is combined by an infinite number of triangles. Figure 3 is a schematic diagram of the vertices of the track, and the black dots in Figure 3 are the vertices of the track.

Step 104: Generate a midpoint path vertex set according to the vertex of the trajectory of the trajectory.

Each trajectory grid includes two trajectory paths. As shown in FIG. 4, the trajectory grid includes two trajectory paths B0->A0 and B1->A1, where point A is the midpoint of A0 and A1, and point B It is the midpoint of B0 and B1. In order to generate the trajectory, the midpoint path B->A is required. A trajectory is a curve generated by a series of ordered vertices plus a spline algorithm. The trajectory can be connected to the vertices of the line.

The midpoint is obtained by extracting the vertices from the vertices of the trajectory grid, and traversing all the vertices in the vertices of the trajectory grid to generate a midpoint path vertex set. The midpoint path vertex set includes the midpoint.

Step 106: Sort the vertex of the midpoint path vertex to obtain a trajectory line vertex sequence.

Specifically, the starting point of the trajectory line is selected from the vertices of the vertices of the midpoint path, and then the next vertice adjacent to the starting point is selected according to the starting point of the trajectory line, and then the adjacent next vertice is taken as a new starting point, and so on, forming a trajectory line vertice sequence.

The method for generating a trajectory sequence of the trajectory line generates a vertices of the midpoint path according to the vertices of the vertices of the trajectory grid, and sorts the vertices of the vertices of the midpoint path to obtain a trajectory sequence of the trajectory line, thereby generating a trajectory line The grid automatically generates trajectories, eliminating the need for manual drawing, saving labor costs and improving development efficiency.

FIG. 5 is a specific flowchart of generating a midpoint system vertex set according to a vertex of a trajectory of a trajectory grid in one embodiment. As shown in FIG. 5, the generating a midpoint path vertex set according to the vertex of the trajectory of the trajectory of the trajectory includes the following steps:

Step 502, initializing an empty first set.

Specifically, the trajectory grid vertex set A and the empty first set B may be initialized first.

Step 504, extracting vertices sequentially from the vertices of the trajectory grid.

Specifically, an arbitrary vertex P is sequentially taken out from the trajectory grid vertex set A.

Step 506: Determine whether a distance between the vertex and the extracted vertex in the first set is less than a set pitch value. If yes, execute step 508. If no, execute step 510.

Specifically, in the first set B, the distance between the vertex P′ and the extracted vertex P is less than the set pitch value, and the vertex P′ in the first set B is updated to the midpoint of the vertex P′ and the vertex P; If there is no distance between the vertex P' and the extracted vertex P in the first set B is less than the set pitch value, the vertex P is added to the first set B.

In the trajectory grid, the spacing between any two points before and after the one-sided trajectory path is greater than the set spacing value. For example, the set spacing value is 1 meter. Refer to Figure 4, ie |A0-B0|>=1&& |A1-B1|>=1. Using this property, it can be found that 2 points with a pitch of less than 1 meter are the corresponding points on the two paths, which is reflected in FIG. 4 as |A0-A1|<1.

The set pitch value is determined according to the spacing between any two points before and after the one-sided trajectory of the trajectory grid.

Step 508: Update the vertex in the first set to the vertex in the first set and the midpoint of the fetched vertex.

Specifically, the vertex in the first set that is smaller than the set pitch value from the vertex extracted from the vertex mesh vertex set is updated to be smaller than the set in the first set and the vertex taken from the track mesh vertex set is smaller than the set. The vertex of the spacing value is the midpoint of the extracted vertex.

Step 510, adding the extracted vertex to the first set.

Specifically, the vertices taken from the vertices of the trajectory grid are added to the first set.

Step 512, traversing the vertices of the vertices of the trajectory grid, and using the obtained first set as a set of vertices of the midpoint path.

In this embodiment, each time a vertex is taken out from the vertices of the trajectory grid, and the vertices are compared with the vertices in the first set, and processed in the processing manners of steps 506, 508, and 510 until the trajectory mesh vertices are traversed. By concentrating all the vertices, you will get the set of vertices in the first set, and then use the first set as the set of vertices in the midpoint path.

The above verifies that the vertex in the first set is updated to the vertex by comparing the vertex of the vertex of the trajectory grid with the vertex distance in the first set to determine the presence of the vertex in the first set and the vertex taken from the vertex of the trajectory grid. With the midpoint of the extracted vertex, a set of midpoint path vertices is generated, and the calculation method is simple and the calculation amount is small.

FIG. 6 is a specific flowchart of generating a midpoint system vertex set according to a vertices of a trajectory of a trajectory grid in another embodiment. As shown in FIG. 6, the generating a midpoint path vertex set according to the vertex of the trajectory of the trajectory of the trajectory includes the following steps:

Step 602, initializing an empty first set.

Step 604, it is determined whether the trajectory grid vertex set is empty, and if so, the process ends. If not, step 606 is performed.

In step 606, the vertices are sequentially taken out from the vertices of the trajectory grid, and the extracted vertices are removed.

Specifically, arbitrary vertex P is sequentially taken out from the trajectory grid vertex set A, and the vertex P is removed from the trajectory mesh vertex set A.

In step 608, it is determined whether the distance between the vertex and the extracted vertex in the first set is less than the set pitch value. If yes, step 608 is performed, and if no, step 610 is performed.

In the trajectory grid, the spacing between any two points before and after the one-sided trajectory path is greater than the set spacing value. For example, the set spacing value is 1 meter. Refer to Figure 3, ie |A0-B0|>=1&& |A1-B1|>=1. Using this property, it can be found that 2 points with a pitch of less than 1 meter are the corresponding points on the two paths, which is reflected in FIG. 3 as |A0-A1|<1.

Step 610: Update the vertex in the first set to the vertex in the first set and the midpoint of the fetched vertex, and then return to step 604.

Step 612, adding the extracted vertex to the first set, and then returning to step 604.

The vertex of the vertices of the trajectory grid is traversed, and the obtained first set is used as a set of vertices of the midpoint path.

In this embodiment, each time a vertex is taken out from the vertices of the trajectory grid, and the vertices are compared with the vertices in the first set, and processed in the processing manners of steps 608, 610, and 612 until the trajectory mesh vertices are traversed. By concentrating all the vertices, you will get the set of vertices in the first set, and then use the first set as the set of vertices in the midpoint path.

The above verifies that the vertex in the first set is updated to the vertex by comparing the vertex of the vertex of the trajectory grid with the vertex distance in the first set to determine the presence of the vertex in the first set and the vertex taken from the vertex of the trajectory grid. And the midpoint of the extracted vertex, thus generating the midpoint path vertex set, the calculation method is simple, the calculation amount is small, by judging whether the trajectory grid vertex set is empty, the empty is ended, the loop is automatically jumped out, and the operation is convenient.

FIG. 7 is a specific flowchart of sorting vertices of a vertex of a midpoint path to obtain a sequence of vertices of a trajectory line in one embodiment. As shown in FIG. 7, the steps of sorting the vertex of the vertex of the midpoint path to obtain the sequence of the vertex of the track line include:

Step 702: Select a starting point of the trajectory line from the vertices of the midpoint path.

In this embodiment, the starting point of selecting the trajectory line from the vertices of the midpoint path includes: selecting the vertice with the smallest Z coordinate in the three-dimensional coordinates as the starting point of the trajectory line from the vertices of the midpoint path.

Specifically, in the trajectory grid, the vertices generally extend in the positive direction of the Z axis. To this end, the vertices with the smallest Z coordinate in the set of midpoint paths can be used as the starting point of the trajectory line, and the starting point of the trajectory line is S. Create an empty sequence C. The vertex S is removed from the midpoint path vertex and added to the tail of the sequence C.

Step 704, traversing the set of vertex of the midpoint path, searching for the vertex closest to the starting point, and using the vertex closest to the starting point as the next adjacent vertex of the starting point.

Specifically, the vertices of the midpoint path vertex are traversed to find the vertex P closest to the starting point S, and the vertex P is added to the sequence C in the next vertex adjacent to the starting point S.

Step 706, updating the closest vertex to a new starting point.

Specifically, the starting point S is updated to the vertex P, that is, the vertex P is taken as a new starting point, and then the vertex of the vertex of the midpoint path is continuously traversed, the vertex P closest to the new starting point is searched, and the vertex P is taken as a new starting point. The next adjacent vertex is added to sequence C.

Step 708, traversing the vertex of the vertex of the midpoint path to form a sequence of trajectory vertex.

Specifically, all the vertices in the vertex of the midpoint path are traversed, and the vertices of the trajectory are formed according to steps 704 and 706.

The above traversing the midpoint path vertex by selecting the starting point of the trajectory line and finding the vertex closest to the starting point of the trajectory line as the next vertice adjacent to the starting point, and then updating the found next adjacent vertex as a new starting point. Concentrate the vertices to form a sequence of trajectory vertices, which is simple in calculation and small in calculation.

FIG. 8 is a specific flowchart of sorting vertices of a vertex of a midpoint path to obtain a sequence of vertices of a trajectory line in another embodiment. As shown in FIG. 8, the steps of sorting the vertex of the vertex of the midpoint path to obtain the sequence of the vertex of the track line include:

Step 802, selecting a starting point of the trajectory line from the vertices of the midpoint path.

In this embodiment, the step of extracting the starting point of the trajectory from the vertices of the midpoint path comprises: selecting, from the vertices of the midpoint path, the vertices with the smallest Z coordinate in the three-dimensional coordinates as the starting point of the trajectory.

In step 804, it is determined whether the midpoint path vertex set is empty. If yes, the process ends. If not, step 806 is performed.

Step 806, traversing the set of vertex of the midpoint path, searching for the vertex closest to the starting point, taking the vertex closest to the starting point as the next adjacent vertex of the starting point, and removing the vertex from the midpoint path vertex The nearest vertex.

Specifically, the vertices of the midpoint path vertex are traversed to find the vertex P closest to the starting point S, and the vertex P is added to the sequence C in the next vertex adjacent to the starting point S. Removes the vertex closest to the starting point from the midpoint path vertex set.

Step 808, updating the nearest vertex to a new starting point.

Step 810, traversing the vertex of the vertex of the midpoint path to form a sequence of trajectory vertex.

Specifically, all the vertices in the vertex of the midpoint path are traversed, and processed according to steps 804, 806 and step 808 to form a vertex sequence of the trajectory.

The above traversing the midpoint path vertex by selecting the starting point of the trajectory line and finding the vertex closest to the starting point of the trajectory line as the next vertice adjacent to the starting point, and then updating the found next adjacent vertex as a new starting point. Concentrate the vertices to form a sequence of trajectory vertices. The calculation method is simple and the calculation amount is small. If the vertex set of the midpoint path is empty, it ends, and the loop is automatically jumped out, which is convenient to operate.

To further illustrate the effect of generating a sequence of trajectory vertices from the trajectory grid, as shown in FIG. 9, a three-dimensional coordinate system XYZ is established for the trajectory grid created on the arched road surface. FIG. 10 is an enlarged schematic view of the trajectory grid of FIG. 9. As can be seen in FIG. 10, the trajectory grid is formed by splicing one triangle. 11 is a schematic diagram of a trajectory sequence of trajectory lines generated by the method for generating a trajectory sequence of trajectory lines, as shown in FIG. 11, the trajectory sequence of trajectory lines obtained by gradually increasing the Z coordinate of the trajectory of the trajectory line, black in the figure The dot is the track point.

Figure 12 is a block diagram showing the structure of an apparatus for generating a sequence of trajectory vertices in one embodiment. As shown in FIG. 12, the apparatus for generating a sequence of trajectory vertices includes an obtaining module 1210, a generating module 1220, and a sorting module 1230. among them:

The obtaining module 1210 is configured to acquire a trajectory grid vertex set. The trajectory grid is an infinite number of triangles. The trajectory grid is a set of vertices of a 3D model, and contains three-dimensional coordinate data of each vertex. Get the vertices in the trajectory grid and add the vertices to the trajectory grid vertex set

The generating module 1220 is configured to generate a midpoint path vertex set according to the vertices of the trajectory mesh vertex.

Each trajectory grid includes two trajectory paths. As shown in FIG. 4, the trajectory grid includes two trajectory paths B0->A0 and B1->A1, where point A is the midpoint of A0 and A1, and point B It is the midpoint of B0 and B1. In order to generate the trajectory, the midpoint path B->A is required. A trajectory is a curve generated by a series of ordered vertices plus a spline algorithm. The trajectory can be connected to the vertices of the line. The midpoint is obtained by extracting the vertices from the vertices of the trajectory grid, and traversing all the vertices in the vertices of the trajectory grid to generate a midpoint path vertex set. The midpoint path vertex set includes the midpoint.

The sorting module 1230 is configured to sort the vertex of the vertex of the midpoint path to obtain a sequence of trajectory vertex.

The device for generating a trajectory sequence of the trajectory line generates a vertices of the midpoint path according to the vertices of the vertices of the trajectory mesh, and sorts the vertices of the vertices of the midpoint path to obtain a trajectory sequence of the trajectory line, thereby generating a trajectory line The grid automatically generates trajectories, eliminating the need for manual drawing, saving labor costs and improving development efficiency.

Figure 13 is a block diagram showing the internal structure of a generation module in one embodiment. As shown in FIG. 13, the generating module 1220 includes an initializing unit 1310, a fetching unit 1320, a first judging unit 1330, an updating unit 1340, and an traversing unit 1350. among them:

The initialization unit 1310 is for initializing an empty first set. Specifically, the trajectory grid vertex set A and the empty first set B may be initialized first.

The fetching unit 1320 is configured to sequentially fetch vertices from the vertices of the trajectory grid. Specifically, an arbitrary vertex P is sequentially taken out from the trajectory grid vertex set A.

The first determining unit 1330 is configured to determine whether a distance between the vertices in the first set and the extracted vertices is less than a set pitch value.

The updating unit 1340 is configured to: when it is determined that the distance between the vertices in the first set and the extracted vertices is less than a set pitch value, update the vertices in the first set to the vertices in the first set And extracting the extracted vertex into the first set, and determining that a distance between the vertices in the first set and the extracted vertices is less than a set pitch value.

Specifically, the vertex in the first set that is smaller than the set pitch value from the vertex extracted from the vertex mesh vertex set is updated to be smaller than the set in the first set and the vertex taken from the track mesh vertex set is smaller than the set. The vertex of the spacing value is the midpoint of the extracted vertex. The vertices taken from the vertices of the trajectory grid are added to the first set.

The traversing unit 1350 is configured to traverse the vertex of the vertices of the trajectory grid, and the obtained first set is used as a set of vertices of the midpoint path.

Further, in an embodiment, the first determining unit 1330 is further configured to determine whether the trajectory grid vertex set is empty before sequentially extracting the vertices from the trajectory mesh vertex set, and if yes, end, if not, The fetching unit 1320 sequentially extracts vertices from the vertices of the trajectory grid and removes the fetched vertices.

After updating the vertex in the first set to the midpoint of the vertex in the first set and the fetched vertex, or after adding the fetched vertex to the first set, The determining unit 1330 performs the determination of whether the trajectory grid vertex set is empty.

Figure 14 is a block diagram showing the internal structure of the sorting module in one embodiment. As shown in FIG. 14, the sorting module 1230 includes a selecting unit 1410, a searching unit 1420, an updating unit 1430, a generating unit 1440, a second determining unit 1450, and a removing unit 1460. among them:

The selecting unit 1410 is configured to select a starting point of the trajectory line from the vertices of the midpoint path. In this embodiment, the selecting unit 1410 is further configured to select, from the vertex of the midpoint path, the vertex with the smallest Z coordinate in the three-dimensional coordinates as the starting point of the trajectory. Specifically, in the trajectory grid, the vertices generally extend in the positive direction of the Z axis. To this end, the vertices with the smallest Z coordinate in the set of midpoint paths can be used as the starting point of the trajectory line, and the starting point of the trajectory line is S. Create an empty sequence C. The vertex S is removed from the midpoint path vertex and added to the tail of the sequence C.

The searching unit 1420 is configured to traverse the set of vertex of the midpoint path, find the vertex closest to the starting point, and use the vertex closest to the starting point as the next adjacent vertex of the starting point. Specifically, the vertices of the midpoint path vertex are traversed to find the vertex P closest to the starting point S, and the vertex P is added to the sequence C in the next vertex adjacent to the starting point S.

The update unit 1430 is configured to update the closest vertex to a new starting point. Specifically, the starting point S is updated to the vertex P, that is, the vertex P is taken as a new starting point, and then the vertex of the vertex of the midpoint path is continuously traversed, the vertex P closest to the new starting point is searched, and the vertex P is taken as a new starting point. The next adjacent vertex is added to sequence C.

The generating unit 1440 is configured to form a trajectory line vertex sequence by traversing the vertex of the midpoint path vertex.

The second determining unit 1450 is configured to determine whether the midpoint path vertex set is empty after the starting point of the trajectory line is selected from the midpoint path vertex set, and if yes, end, if not, the searching unit 1420 traverses the midpoint path A vertex set that finds the vertex closest to the starting point, and the vertex closest to the starting point is the next adjacent vertex of the starting point.

The removing unit 1460 is configured to remove the closest vertices from the midpoint path vertex set.

Figure 15 is a block diagram showing the internal structure of the terminal. The terminal includes a processor, a storage medium, a memory, and a network interface connected through a system bus. The storage medium of the terminal stores an operating system, and further includes a device for generating a sequence of vertices of the trajectory, and the device for generating a sequence of vertices of the trajectory is used to implement a method for generating a sequence of vertices of the trajectory. The processor is used to provide computing and control capabilities to support the operation of the entire terminal. The memory in the terminal provides an environment for the operation of the device in the storage medium to generate a sequence of trajectory vertices, and the network interface is used for network communication with the server, such as sending a request to the server, receiving data returned by the server, and the like.

Figure 16 is a block diagram showing the internal structure of the server. As shown in FIG. 16, the server includes a processor, a storage medium, a memory, and a network interface connected through a system bus. The storage medium of the server stores an operating system, a database, and a device for generating vertices of the trajectory, and the data is stored in the database, and the device for generating the vertices of the trajectory is used to implement a method for generating a trajectory sequence of the trajectory for the server. . The server's processor is used to provide computing and control capabilities that support the operation of the entire server. The server's memory provides an environment for the operation of the device that generates the trajectory vertices in the storage medium. The network interface of the server is used to communicate with an external terminal via a network connection, such as receiving a request sent by the terminal and returning data to the terminal. The server can be implemented with a stand-alone server or a server cluster consisting of multiple servers.

One of ordinary skill in the art can understand that all or part of the process of implementing the above embodiments can be completed by a computer program to instruct related hardware, and the program can be stored in a non-volatile computer readable storage medium. Wherein, the program, when executed, may include the flow of an embodiment of the methods as described above. The storage medium may be a magnetic disk, an optical disk, or a read-only storage memory (Read-Only) Memory, ROM), etc.

The above-mentioned embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims

A method of generating a sequence of trajectory vertices, comprising the steps of:

Obtain a trajectory grid vertex set;

Generating a midpoint system vertex set according

The vertices of the midpoint path vertex are sorted to obtain a trajectory vertex sequence.
The method according to claim 1, wherein the step of generating a set of midpoint path vertices according to the vertices of the trajectory of the trajectory of the trajectory comprises:

Initialize an empty first set;

Extracting vertices sequentially from the vertex of the trajectory grid;

Determining whether a distance between the vertex and the extracted vertex in the first set is less than a set pitch value, and if yes, updating the vertex in the first set to be in the first set The vertex and the midpoint of the extracted vertex, if not, adding the extracted vertex to the first set;

The vertices in the vertices of the trajectory grid are traversed, and the obtained first set is used as a set of vertices of the midpoint path.
The method according to claim 2, wherein before the step of sequentially extracting vertices from the vertices of the trajectory grid, the method further comprises:

Determining whether the trajectory grid vertex set is empty, and if so, ending, if not, extracting vertices sequentially from the trajectory grid vertex set, and removing the extracted vertices;

After updating the vertex in the first set to the midpoint of the vertex in the first set and the fetched vertex, or adding the fetched vertex to the first set Then, the step of determining whether the trajectory grid vertex set is empty is performed.
The method according to any one of claims 1 to 3, wherein the step of sorting the vertices of the midpoint path vertex to obtain the trajectory vertices sequence comprises:

Selecting a starting point of the trajectory line from the vertices of the midpoint path;

Traversing the set of midpoint path vertices, finding a vertex closest to the starting point, and using a vertex closest to the starting point as an adjacent next vertex of the starting point;

Updating the closest vertex of the distance to a new starting point;

The vertices in the vertex of the midpoint path are traversed to form a sequence of trajectory vertices.
The method according to claim 4, wherein the step of selecting a starting point of the trajectory line from the vertices of the midpoint path comprises:

The vertex with the smallest Z coordinate in the three-dimensional coordinates is selected from the vertex of the midpoint path as the starting point of the trajectory.
The method according to claim 4, wherein after the step of extracting the starting point of the trajectory line from the vertices of the midpoint path, the method further comprises:

Determining whether the midpoint path vertex set is empty, and if so, ending, if not, traversing the midpoint path vertex set, searching for a vertex closest to the starting point, and using the vertex closest to the starting point as An adjacent next vertex of the starting point, and removing the closest vertex from the midpoint path vertex set.
A terminal, comprising a non-volatile storage medium and a processor, wherein the non-volatile storage medium stores instructions that, when executed by the processor, cause the processor to perform the following steps:

Obtain a trajectory grid vertex set;

Generating a midpoint system vertex set according

The vertices of the midpoint path vertex are sorted to obtain a trajectory vertex sequence.
The terminal according to claim 7, wherein the step of the processor executing the generating a set of midpoint path vertices according to the vertices of the trajectory of the trajectory grid comprises:

Initialize an empty first set;

Extracting vertices sequentially from the vertex of the trajectory grid;

Determining whether a distance between the vertex and the extracted vertex in the first set is less than a set pitch value, and if yes, updating the vertex in the first set to be in the first set The vertex and the midpoint of the extracted vertex, if not, adding the extracted vertex to the first set;

The vertices in the vertices of the trajectory grid are traversed, and the obtained first set is used as a set of vertices of the midpoint path.
The terminal according to claim 8, wherein said processor is further configured to perform the following steps before the step of sequentially extracting vertices from said trajectory grid vertices:

Determining whether the trajectory grid vertex set is empty, and if so, ending, if not, extracting vertices sequentially from the trajectory grid vertex set, and removing the extracted vertices;

After updating the vertex in the first set to the midpoint of the vertex in the first set and the fetched vertex, or adding the fetched vertex to the first set Then, the step of determining whether the trajectory grid vertex set is empty is performed.
The terminal according to any one of claims 7 to 9, wherein the processor performs a step of sorting the vertices of the midpoint path vertex to obtain a trajectory line vertice sequence:

Selecting a starting point of the trajectory line from the vertices of the midpoint path;

Traversing the set of midpoint path vertices, finding a vertex closest to the starting point, and using a vertex closest to the starting point as an adjacent next vertex of the starting point;

Updating the closest vertex of the distance to a new starting point;

The vertices in the vertex of the midpoint path are traversed to form a sequence of trajectory vertices.
The terminal according to claim 10, wherein the step of the processor performing a process of selecting a trajectory line from the vertices of the midpoint path comprises:

The vertex with the smallest Z coordinate in the three-dimensional coordinates is selected from the vertex of the midpoint path as the starting point of the trajectory.
The terminal according to claim 10, wherein after the step of extracting the start point of the trajectory line from the vertices of the midpoint path, the processor is further configured to perform the following steps:

Determining whether the midpoint path vertex set is empty, and if so, ending, if not, traversing the midpoint path vertex set, searching for a vertex closest to the starting point, and using the vertex closest to the starting point as An adjacent next vertex of the starting point, and removing the closest vertex from the midpoint path vertex set.
A server comprising a non-volatile storage medium and a processor, wherein the non-volatile storage medium stores instructions that, when executed by the processor, cause the processor to perform the following steps:

Obtain a trajectory grid vertex set;

Generating a midpoint system vertex set according

The vertices of the midpoint path vertex are sorted to obtain a trajectory vertex sequence.
The server according to claim 13, wherein the step of the processor executing the generating a midpoint path vertex according to the vertices of the trajectory of the trajectory grid comprises:

Initialize an empty first set;

Extracting vertices sequentially from the vertex of the trajectory grid;

Determining whether a distance between the vertex and the extracted vertex in the first set is less than a set pitch value, and if yes, updating the vertex in the first set to be in the first set The vertex and the midpoint of the extracted vertex, if not, adding the extracted vertex to the first set;

The vertices in the vertices of the trajectory grid are traversed, and the obtained first set is used as a set of vertices of the midpoint path.
The server according to claim 14, wherein said processor is further configured to perform the following steps before the step of sequentially extracting vertices from said trajectory grid vertex set:

Determining whether the trajectory grid vertex set is empty, and if so, ending, if not, extracting vertices sequentially from the trajectory grid vertex set, and removing the extracted vertices;

After updating the vertex in the first set to the midpoint of the vertex in the first set and the fetched vertex, or adding the fetched vertex to the first set Then, the step of determining whether the trajectory grid vertex set is empty is performed.
The server according to any one of claims 13 to 15, wherein the processor performs a step of sorting the vertices of the midpoint path vertex to obtain a trajectory line vertice sequence:

Selecting a starting point of the trajectory line from the vertices of the midpoint path;

Traversing the set of midpoint path vertices, finding a vertex closest to the starting point, and using a vertex closest to the starting point as an adjacent next vertex of the starting point;

Updating the closest vertex of the distance to a new starting point;

The vertices in the vertex of the midpoint path are traversed to form a sequence of trajectory vertices.
The server according to claim 16, wherein said step of said processor performing a process of selecting a trajectory line from said midpoint path vertices comprises:

The vertex with the smallest Z coordinate in the three-dimensional coordinates is selected from the vertex of the midpoint path as the starting point of the trajectory.
The server according to claim 16, wherein after the step of extracting the start point of the trajectory line from the vertices of the midpoint path, the processor is further configured to perform the following steps:

Determining whether the midpoint path vertex set is empty, and if so, ending, if not, traversing the midpoint path vertex set, searching for a vertex closest to the starting point, and using the vertex closest to the starting point as An adjacent next vertex of the starting point, and removing the closest vertex from the midpoint path vertex set.