WO2017113733A1 - 一种三维视频的自由观影方法及设备 - Google Patents

一种三维视频的自由观影方法及设备 Download PDF

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WO2017113733A1
WO2017113733A1 PCT/CN2016/089571 CN2016089571W WO2017113733A1 WO 2017113733 A1 WO2017113733 A1 WO 2017113733A1 CN 2016089571 W CN2016089571 W CN 2016089571W WO 2017113733 A1 WO2017113733 A1 WO 2017113733A1
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viewing
matrix
dimensional
current
orientation
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French (fr)
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许小飞
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Le Holdings Beijing Co Ltd
Leshi Zhixin Electronic Technology Tianjin Co Ltd
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Le Holdings Beijing Co Ltd
Leshi Zhixin Electronic Technology Tianjin Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/111—Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation
    • H04N13/117—Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation the virtual viewpoint locations being selected by the viewers or determined by viewer tracking

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  • the present patent application relates to the field of virtual reality technology, and in particular, to a method and device for free viewing of three-dimensional video.
  • an embodiment of the present invention provides a freedom view of a three-dimensional video.
  • the shadow method comprises the steps of: calculating respective rotation matrices of the current viewpoint in three dimensional directions; calculating a current viewing orientation according to the rotation matrix and the original viewing orientation in the three dimensional directions; according to the current Observing the orientation of the viewer, calculating the orientation matrix of the viewer; and performing the three-dimensional video playback as the inverse position of the orientation matrix of the three-dimensional video in the viewer coordinate system.
  • One embodiment of the present invention provides a computer readable storage medium comprising computer executable instructions that, when executed by at least one processor, cause the processor to perform the above method.
  • An embodiment of the present invention further provides a three-dimensional video free viewing device, comprising: a rotation matrix calculation module, configured to calculate respective rotation matrices of the current viewpoint in three dimensional directions; and a viewing orientation calculation module for The rotation matrix and the original viewing orientation in the three dimensional directions, the current viewing orientation is calculated; the orientation matrix calculating module is configured to calculate the orientation matrix of the viewer according to the current viewing orientation; the playing module, For the inverse matrix of the orientation matrix calculated, the three-dimensional video is played as the position of the three-dimensional video in the viewer coordinate system.
  • the present embodiment calculates the current rotation orientation matrix in the three dimensional directions by calculating the rotation matrix of the current viewpoint in the three dimensional directions, and calculates the current viewing orientation according to the rotation matrix and the original viewing orientation in the three dimensional directions, and according to The current viewing orientation is calculated to calculate the orientation matrix of the viewer, so that the inverse matrix of the calculated orientation matrix can be used to play the three-dimensional video as the position of the three-dimensional video in the viewer coordinate system. It can be seen that the present embodiment can adjust the screen of the three-dimensional video to adapt to the viewer's current viewpoint position based on the free change of the position of the viewer in the three-dimensional space, thereby enabling the viewer to freely view the virtual reality. 3D video of etc.
  • FIG. 1 is a flow chart of a method for free viewing of a three-dimensional video according to a first embodiment of the present invention
  • FIG. 2 is a block diagram showing the structure of a three-dimensional video free viewing device according to a second embodiment of the present invention.
  • a first embodiment of the present invention relates to a method for free viewing of a three-dimensional video.
  • the specific process is as shown in FIG. 1 , and the method includes the following steps 10 to 13:
  • Step 10 Calculate the respective rotation matrices of the current viewpoint in the three dimensional directions, so that the current viewpoint can be rotated based on the view matrix of the three-dimensional scene.
  • the specific calculation step includes the following sub-step 101 to sub-step 102:
  • Sub-step 101 Acquire respective rotation angles of the current viewpoint in three dimensional directions.
  • the viewing angle of the viewer changes, for example, the viewer adjusts from the forward sitting posture to the reclining posture, and the viewing angle direction is shifted.
  • the viewpoint position in the three-dimensional view of the embodiment can be adjusted according to the user's offset angle.
  • the user wears a terminal device for viewing a three-dimensional video, and the terminal device has a built-in sensor that can track the rotation of the viewer's head. Therefore, the sensor embedded in the terminal device (ie, the 3D viewing device) can detect the offset angle of the current relative position of the terminal device in the three directions of the x-axis, the y-axis, and the z-axis, and detect the sensor.
  • the three offset angles are the respective rotation angles of the current viewpoint in the three dimensional directions.
  • Sub-step 102 Calculate the respective rotation matrices in the three dimensional directions according to the obtained rotation angles in the three dimensional directions.
  • the rotation matrix refers to the representation of the rotation angle of the object in three-dimensional space in the form of a matrix. If the rotation angle value of the viewpoint is ⁇ , the matrix of the objects in the three-dimensional scene rotating around the rotation axis X, Y, Z respectively is expressed as follows:
  • a rotation matrix around an arbitrary vector can be obtained from the rotation matrix.
  • Step 11 Calculate the current viewing orientation based on the rotation matrix and the original viewing orientation in the three dimensional directions. That is, the angle of view of the three-dimensional scene view matrix is adjusted according to the change of the user's perspective to correspond to the viewing direction of the user.
  • sub-step 110 - sub-step 111 is included:
  • Sub-step 110 Obtain the forward direction and the upward direction of the original viewing direction.
  • the original viewing orientation is the initial viewing orientation in the three-dimensional view matrix or the viewing orientation corresponding to the user's previous viewing angle.
  • the viewing direction includes two vectors, a forward direction and an upward direction.
  • Sub-step 111 multiplying the forward direction and the upward direction by the rotation matrix in the three dimensional directions, respectively, to obtain the forward direction and the upward direction of the current viewing direction. Thereby implementing a three-dimensional view matrix Rotation based on the user's perspective.
  • Step 12 Calculate the orientation matrix of the viewer according to the current viewing orientation.
  • Matrix4f rollPitchYaw Matrix4f::RotationY(EyeYaw)
  • constVector3f up rollPitchYaw.Transform(Up);
  • constVector3f forward rollPitchYaw.Transform(Forward);
  • constVector3feye (0,0,0);
  • Matrix4m (x.x, x.y, x.z, -(x.Dot(eye)),
  • Step 13 Perform the three-dimensional video playback as the inverse position of the calculated orientation matrix as the position of the three-dimensional video in the viewer coordinate system.
  • the present embodiment rotates and transforms the three-dimensional view matrix by tracking the current perspective of the user, so that the transformed three-dimensional view matrix is played according to the user's current perspective position, thereby breaking through the current mobile phone-based
  • the limitations of the user perspective in the virtual reality viewing solution enable users to flexibly adjust the viewing mode and improve the user experience.
  • a second embodiment of the present invention relates to a free viewing device, as shown in FIG. 2, comprising: a rotation matrix calculation module, a viewing orientation calculation module, a matrix calculation module, and a playback module.
  • the rotation matrix calculation module includes: a rotation angle acquisition sub-module and a rotation matrix acquisition sub-module.
  • the rotation angle acquisition sub-module is used to obtain the rotation angle of the current viewpoint in the three dimension directions.
  • the rotation angle acquisition sub-module in the embodiment may be a sensor built in the terminal device worn by the user. The sensor is used to track the user's perspective.
  • the sensor can be implemented by a gyroscope, and the sensor is used to detect the offset angle of the current relative position of the terminal device in the x-axis, the y-axis, and the z-axis, and the sensor detects the three.
  • the offset angles are the respective rotation angles of the current viewpoint in the three dimensional directions.
  • the rotation matrix acquisition sub-module is configured to calculate respective rotation matrices in three dimensional directions according to the obtained rotation angles in the three dimensional directions.
  • the viewing orientation calculation module includes: a direction acquisition submodule and a multiplication operation submodule.
  • the direction acquisition sub-module is used to obtain the forward direction and the upward direction of the original viewing direction
  • the multiplication operation sub-module is used to multiply the forward direction and the upward direction by the rotation matrix in the three dimensional directions respectively to obtain the current viewing.
  • the forward direction and the upward direction of the orientation are used to obtain the forward direction and the upward direction of the orientation.
  • the orientation matrix calculation module is configured to calculate the orientation matrix of the viewer according to the current viewing orientation, that is, the forward direction and the upward direction of the current viewing orientation.
  • the play module is used to play the three-dimensional video as the position of the three-dimensional video in the viewer coordinate system with the inverse matrix of the calculated orientation matrix.
  • the display angle of the three-dimensional view matrix is adjusted based on the offset angle of the user's perspective, so that the three-dimensional video can be played following the user's perspective, thereby breaking the limitation of the user's viewing mode and improving the flexibility of the user's viewing mode.
  • the present embodiment is a system embodiment corresponding to the first embodiment, and the present embodiment can be implemented in cooperation with the first embodiment.
  • Related technical details mentioned in the first embodiment In the present embodiment, it is still effective, and in order to reduce repetition, it will not be described again here. Accordingly, the related art details mentioned in the present embodiment can also be applied to the first embodiment.
  • each module involved in this embodiment is a logic module.
  • a logical unit may be a physical unit, a part of a physical unit, or multiple physical entities. A combination of units is implemented.
  • the present embodiment does not introduce a unit that is not closely related to solving the technical problem proposed by the present invention, but this does not mean that there are no other units in the present embodiment.
  • the steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two.
  • Software modules can reside in random access memory (RAM), flash memory, read only memory (ROM), programmable read only memory (PROM), erasable read only memory (PROM), erasable and programmable only Read memory (EPROM), electrically erasable programmable read only memory (EEPROM), registers, hard disk, removable disk, compact disk read only memory (CD-ROM), or any other form known in the art Storage media.
  • the storage medium may be integral to the processor.
  • the processor and the storage medium can reside in an application specific integrated circuit (ASIC).
  • the ASIC can reside in a computing device or user terminal, or the processor and storage medium can reside as discrete components in a computing device or user terminal.

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Abstract

本发明实施例涉及虚拟现实技术领域，公开了一种三维视频的自由观影方法及设备。本发明部分实施例中，计算当前视点在三个维度方向上各自的旋转矩阵；根据三个维度方向上的旋转矩阵和原始观影朝向，计算当前的观影朝向；根据当前的观影朝向，计算观影者的朝向矩阵；以计算的朝向矩阵的逆矩阵，作为三维视频在观影者坐标系中的位置进行三维视频的播放。采用本发明实施例，使得三维视频的显示能够随着用户位置的自由变化而自动适应于用户的当前视点位置，从而实现自由观影，提高用户体验。

Description

一种三维视频的自由观影方法及设备
交叉引用
本申请要求于2015年12月27日提交中国专利局、申请号为201511002914.2的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本专利申请涉及虚拟现实技术领域，特别涉及一种三维视频的自由观影方法及设备。
背景技术
发明人在实现本发明的过程中发现，随着科技的发展，虚拟现实(Virtual Reality，虚拟现实，简称VR)技术在视频显示领域的应用逐渐成熟。目前，市面上已有不少基于智能终端，比如手机等的观影方案，使得用户足不出户即可享受传统3D影院的播放效果。然而当前在基于手机的虚拟现实(VR)方案中，用户的观影方式仍然局限于固定的场景，即观影者仅能简单改变水平方向的视角，当用户需要休息时，却不能采用躺卧或者侧卧方式继续观看，由此导致提供给用户的观影方式灵活性十分不足。
发明内容
本发明部分实施例的目的在于提供一种三维视频的自由观影方法及设备，使得三维视频的显示能够随着用户位置的自由变化而自动适应于用户的视点位置，从而实现自由观影，提高用户体验。
为解决上述技术问题，本发明的实施方式提供了一种三维视频的自由观 影方法，包含以下步骤：计算当前视点在三个维度方向上各自的旋转矩阵；根据所述三个维度方向上的旋转矩阵和原始观影朝向，计算当前的观影朝向；根据所述当前的观影朝向，计算观影者的朝向矩阵；以计算的所述朝向矩阵的逆矩阵，作为所述三维视频在观影者坐标系中的位置进行三维视频的播放。
本发明的一个实施例提供了一种计算机可读存储介质，包括计算机可执行指令，所述计算机可执行指令在由至少一个处理器执行时致使所述处理器执行上述方法。
本发明的实施方式还提供了一种三维视频的自由观影设备，包含：旋转矩阵计算模块，用于计算当前视点在三个维度方向上各自的旋转矩阵；观影朝向计算模块，用于根据所述三个维度方向上的旋转矩阵和原始观影朝向，计算当前的观影朝向；朝向矩阵计算模块，用于根据所述当前的观影朝向，计算观影者的朝向矩阵；播放模块，用于以计算的所述朝向矩阵的逆矩阵，作为所述三维视频在观影者坐标系中的位置进行三维视频的播放。
本实施方式相对于现有技术而言，通过计算当前视点在三个维度方向上各自的旋转矩阵，再根据三个维度方向上的旋转矩阵和原始观影朝向计算当前的观影朝向，并根据当前的观影朝向计算观影者的朝向矩阵，从而能够以计算的朝向矩阵的逆矩阵，作为三维视频在观影者坐标系中的位置进行三维视频的播放。由此可见，本实施方式可以基于观影者在三维空间中位置的自由变化而调整三维视频的荧幕使之适应于观影者的当前视点位置，从而使得观影者可以自由地观看虚拟现实等的三维视频。
附图说明
图1是根据本发明第一实施方式三维视频的自由观影方法的流程图；
图2是根据本发明第二实施方式三维视频的自由观影设备的结构框图。
具体实施方式
为使本发明部分实施例的目的、技术方案和优点更加清楚，下面将结合附图对本发明的各实施方式进行详细的阐述。然而，本领域的普通技术人员可以理解，在本发明各实施方式中，为了使读者更好地理解本申请而提出了许多技术细节。但是，即使没有这些技术细节和基于以下各实施方式的种种变化和修改，也可以实现本申请所要求保护的技术方案。
本发明的第一实施方式涉及一种三维视频的自由观影方法，具体流程如图1所示，该方法包含以下步骤10至步骤13：
步骤10：计算当前视点在三个维度方向上各自的旋转矩阵，从而可以基于三维场景的视图矩阵对当前视点进行旋转。
具体计算步骤包含以下子步骤101至子步骤102：
子步骤101：获取当前视点在三个维度方向上各自的旋转角度。
当观影者的视角发生变化时，比如观影者从正向坐姿调整为斜靠姿势，视角方向发生了偏移，本实施方式的三维视图中的视点位置可以根据用户的偏移角度进行调整。比如，用户佩戴终端设备用于观看三维视频，终端设备内置传感器，传感器能够追踪观影者头部的转动。因此，可以利用内置于终端设备(即3D观影设备)内的传感器检测本终端设备当前相对原始位置在x轴，y轴，z轴三个方向上的偏移角度，并将传感器检测到的三个偏移角度，作为当前视点在三个维度方向上各自的旋转角度。
子步骤102：根据获取的三个维度方向上的旋转角度，计算三个维度方向上各自的旋转矩阵。
其中，旋转矩阵是指用矩阵的形式表示物体在三维空间中的旋转角度。设视点的旋转角度值为θ，则三维场景中物体分别绕旋转轴X，Y，Z旋转的矩阵表示如下：
绕Z轴旋转所得的矩阵：
Figure PCTCN2016089571-appb-000001
绕X轴旋转所得的矩阵：
Figure PCTCN2016089571-appb-000002
绕Y轴旋转所得的矩阵：
Figure PCTCN2016089571-appb-000003
在物体绕X,Y,Z旋转得到的旋转矩阵的基础上，就可以根据该旋转矩阵求出绕任意向量旋转的旋转矩阵。设M为单位矩阵经向量a旋转后的矩阵，且a＝(xa,ya,za)，旋转角度为a，
则
Figure PCTCN2016089571-appb-000004
步骤11：根据三个维度方向上的旋转矩阵和原始观影朝向，计算当前的观影朝向。即根据用户视角的变化调整三维场景视图矩阵的视角使之与用户的观影方向相对应。
具体包含以下子步骤110-子步骤111：
子步骤110：获取原始观影朝向的向前方向和向上方向。原始观影朝向即为三维视图矩阵中最初的观影朝向或者为与用户前一个视角对应的观影朝向。观影朝向包含向前方向和向上方向两个向量。
子步骤111：将向前方向和向上方向分别与三个维度方向上的旋转矩阵相乘，得到当前的观影朝向的向前方向和向上方向。从而实现三维视图矩阵 根据用户视角的旋转。
步骤12：根据当前的观影朝向，计算观影者的朝向矩阵。
朝向矩阵的计算方法示例说明如下：
设视点绕y,x,z轴旋转的角度值分别为：EyeYaw,EyePitch,EyeRoll,求得总的旋转矩阵rollPitchYaw为：
Matrix4f rollPitchYaw＝Matrix4f::RotationY(EyeYaw)
*Matrix4f::RotationX(EyePitch)
*Matrix4f::RotationZ(EyeRoll)；
设初始状态的朝上向量为Up,朝前的向量为Forward，视点位置为eye；计算得到向量在旋转后的值，如下：
constVector3f up＝rollPitchYaw.Transform(Up)；
constVector3f forward＝rollPitchYaw.Transform(Forward)；
constVector3feye＝(0,0,0)；
根据上述的up,farward,eye，计算得到最终的朝向矩阵m:
Vector3z＝(eye-forward).Normalized()；
Vector3x＝up.Cross(z).Normalized()；
Vector3y＝z.Cross(x)；
Matrix4m(x.x,x.y,x.z,-(x.Dot(eye)),
y.x,y.y,y.z,-(y.Dot(eye)),
z.x,z.y,z.z,-(z.Dot(eye)),
0,0,0,1)；
上述的Normalized，Cross，Dot分别是归一化，叉乘，点乘运算。
步骤13：以计算的朝向矩阵的逆矩阵，作为三维视频在观影者坐标系中的位置进行三维视频的播放。
现对本实施方式的实现方式举例说明如下：
1.根据三维场景的视图矩阵ViewMatrix，计算得到视点在x，y，z三个方向上的角度vector3angle(angle_x,angle_y,angle_z)；
2.根据angle的值，计算得到angle_x、angle_y、angle_z的旋转矩阵matrix_x、matrix_y、matrix_z；
3.设最初的观影向前方向为ForwardVector(0,0,-1)，即Z轴的负方向；向上的方向为UpVector(0,1,0)；将这两个向量与上一步骤中求得的matrix_x，matrix_y，matrix_z相乘，计算得到观影者旋转后的向前朝向New_ForwardVector和向上朝向New_UpVector；
4.假设观影者的视点在原点position(0,0,0)；根据上一步骤中计算得到的New_ForwardVector和New_UpVector，计算得到观察者的朝向矩阵resultMatrix；
5.计算得到朝向矩阵的逆矩阵resultMatrix.Inverse()，此矩阵即为荧幕在观察坐标系中的位置。
本实施方式相对于现有技术而言，通过追踪到的用户的当前视角，对三维视图矩阵进行旋转变换，使变换后的三维视图矩阵根据用户当前视角位置进行播放，从而突破了目前基于手机等的虚拟现实观影方案中对用户视角的局限性，使得用户可以灵活调整观影方式，提高用户体验。
上面各种方法的步骤划分，只是为了描述清楚，实现时可以合并为一个步骤或者对某些步骤进行拆分，分解为多个步骤，只要包含相同的逻辑关系，都在本专利的保护范围内；对算法中或者流程中添加无关紧要的修改或者引入无关紧要的设计，但不改变其算法和流程的核心设计都在该专利的保护范 围内。
本发明第二实施方式涉及一种自由观影设备，如图2所示，包含：旋转矩阵计算模块，观影朝向计算模块，朝向矩阵计算模块和播放模块。
具体而言，旋转矩阵计算模块包含：旋转角度获取子模块和旋转矩阵获取子模块。旋转角度获取子模块用于获取当前视点在三个维度方向上各自的旋转角度，作为举例而非限制，本实施方式中的旋转角度获取子模块可以为内置于用户佩戴的终端设备内的传感器，传感器用于跟踪用户的视角，传感器可以采用陀螺仪实现，利用该传感器检测终端设备当前相对原始位置在x轴，y轴，z轴三个方向上的偏移角度，并将传感器检测到的三个偏移角度，作为当前视点在三个维度方向上各自的旋转角度。旋转矩阵获取子模块用于根据获取的三个维度方向上的旋转角度，计算三个维度方向上各自的旋转矩阵。
观影朝向计算模块包含：方向获取子模块和乘法操作子模块。方向获取子模块用于获取原始观影朝向的向前方向和向上方向，乘法操作子模块用于将向前方向和向上方向分别与三个维度方向上的旋转矩阵相乘，得到当前的观影朝向的向前方向和向上方向。
朝向矩阵计算模块用于根据当前的观影朝向，即当前的观影朝向的向前方向和向上方向，计算观影者的朝向矩阵。
播放模块用于以计算的朝向矩阵的逆矩阵，作为三维视频在观影者坐标系中的位置进行三维视频的播放。
本实施方式利用基于用户视角的偏移角度调整三维视图矩阵的显示视角，使三维视频能够跟随用户视角进行播放，从而突破了用户观影方式的局限性，提高了用户观影方式的灵活性。
不难发现，本实施方式为与第一实施方式相对应的系统实施例，本实施方式可与第一实施方式互相配合实施。第一实施方式中提到的相关技术细节 在本实施方式中依然有效，为了减少重复，这里不再赘述。相应地，本实施方式中提到的相关技术细节也可应用在第一实施方式中。
值得一提的是，本实施方式中所涉及到的各模块均为逻辑模块，在实际应用中，一个逻辑单元可以是一个物理单元，也可以是一个物理单元的一部分，还可以以多个物理单元的组合实现。此外，为了突出本发明的创新部分，本实施方式中并没有将与解决本发明所提出的技术问题关系不太密切的单元引入，但这并不表明本实施方式中不存在其它的单元。
结合本文中所揭示的实施例而描述的方法或算法的步骤可直接体现于硬件中，由处理器执行的软件模块中或所述两者的组合中。软件模块可驻留在随机存取存储器(RAM)、快闪存储器、只读存储器(ROM)、可编程只读存储器(PROM)，可擦除只读存储器(PROM)、可擦除可编程只读存储器(EPROM)、电可擦除可编程只读存储器(EEPROM)、寄存器、硬盘、可装卸式盘、压缩光盘只读存储器(CD-ROM)或此项技术中已知的任一其他形式的存储媒体。在替代方案中，存储媒体可与处理器成一体式。处理器及存储媒体可驻留在专用集成电路(ASIC)中。ASIC可驻留在计算装置或用户终端中，或者，处理器及存储媒体可作为离散组件驻留在计算装置或用户终端中。
本领域的普通技术人员可以理解，上述各实施方式是实现本发明的具体实施例，而在实际应用中，可以在形式上和细节上对其作各种改变，而不偏离本发明的精神和范围。

Claims (9)

  1. 一种三维视频的自由观影方法，包含以下步骤：
    计算当前视点在三个维度方向上各自的旋转矩阵；
    根据所述三个维度方向上的旋转矩阵和原始观影朝向，计算当前的观影朝向；
    根据所述当前的观影朝向，计算观影者的朝向矩阵；
    以计算的所述朝向矩阵的逆矩阵，作为所述三维视频在观影者坐标系中的位置进行三维视频的播放。
  2. 根据权利要求1所述的三维视频的自由观影方法，其中，所述计算当前视点在三个维度方向上各自的旋转矩阵的步骤中，包含以下子步骤：
    获取当前视点在三个维度方向上各自的旋转角度；
    根据获取的所述三个维度方向上的旋转角度，计算三个维度方向上各自的旋转矩阵。
  3. 根据权利要求2所述的三维视频的自由观影方法，其中，在所述获取当前视点在三个维度方向上各自的旋转角度的步骤中，利用内置于终端设备内的传感器检测本终端设备当前相对原始位置在x轴，y轴，z轴三个方向上的偏移角度，并将所述传感器检测到的三个偏移角度，作为所述当前视点在三个维度方向上各自的旋转角度；
    其中，所述终端设备为用于观看所述三维视频且跟随观影者转动的设备。
  4. 根据权利要求1至3任一项所述的三维视频的自由观影方法，其中，根据所述三个维度方向上的旋转矩阵和原始观影朝向，计算当前的观影朝向的步骤中，包含以下子步骤：
    获取原始观影朝向的向前方向和向上方向；
    将所述向前方向和向上方向分别与所述三个维度方向上的旋转矩阵相乘，得到当前的观影朝向的向前方向和向上方向。
  5. 一种三维视频的自由观影设备，包含：
    旋转矩阵计算模块，用于计算当前视点在三个维度方向上各自的旋转矩阵；
    观影朝向计算模块，用于根据所述三个维度方向上的旋转矩阵和原始观影朝向，计算当前的观影朝向；
    朝向矩阵计算模块，用于根据所述当前的观影朝向，计算观影者的朝向矩阵；
    播放模块，用于以计算的所述朝向矩阵的逆矩阵，作为所述三维视频在观影者坐标系中的位置进行三维视频的播放。
  6. 根据权利要求5所述的三维视频的自由观影设备，其中，所述旋转矩阵计算模块包含：
    旋转角度获取子模块，用于获取当前视点在三个维度方向上各自的旋转角度；
    旋转矩阵获取子模块，用于根据获取的所述三个维度方向上的旋转角度，计算三个维度方向上各自的旋转矩阵。
  7. 根据权利要求6所述的三维视频的自由观影设备，其中，
    所述旋转角度获取子模块利用内置于本设备内的传感器检测本设备当前相对原始位置在x轴，y轴，z轴三个方向上的偏移角度，并将所述传感器检测到的三个偏移角度，作为所述当前视点在三个维度方向上各自的旋转角度。
  8. 根据权利要求5至7任一项所述的三维视频的自由观影设备，其中，所述观影朝向计算模块包含：
    方向获取子模块，用于获取原始观影朝向的向前方向和向上方向；
    乘法操作子模块，用于将所述向前方向和向上方向分别与所述三个维度方向上的旋转矩阵相乘，得到前的观影朝向的向前方向和向上方向。
  9. 一种计算机可读存储介质，包括计算机可执行指令，所述计算机可执行指令在由至少一个处理器执行时致使所述处理器执行如权利要求1-4任一项所述的方法。
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