US 2021/0233272 A1 · DATA PROCESSING METHOD AND DEVICE USED IN VIRTUAL SCENARIO

Abstract

This application provides a data processing method and device. The method includes: collecting a first image by using a camera; obtaining first point cloud data of the object based on the first image, where the first point cloud data indicates three-dimensional coordinate values of a surface point of the object in a first camera coordinate system of the first terminal; obtaining pose data of the first terminal in the first camera coordinate system based on the first image; obtaining a two-dimensional feature image based on the pose data, the first point cloud data, and the first image; generating map data based on the first point cloud data, the pose data, and the two-dimensional feature image; and sending the map data to a second terminal or a server.

Claims20

Dependent claims

A data processing method used in a virtual scenario, comprising:

collecting, by a first terminal, a first image by using a camera, wherein the first image comprises an image of an object;
obtaining, by the first terminal, first point cloud data of the object based on the first image, wherein the first point cloud data indicates three-dimensional coordinate values of a surface point of the object in a first camera coordinate system of the first terminal;
obtaining, by the first terminal, pose data of the first terminal in the first camera coordinate system based on the first image;
obtaining, by the first terminal, a two-dimensional feature image based on the pose data, the first point cloud data, and the first image;
generating, by the first terminal, map data based on the first point cloud data, the pose data, and the two-dimensional feature image;
and
sending, by the first terminal, the map data to a second terminal or a server.

4 more elements

A data processing method used in a virtual scenario, comprising:

receiving, by a second terminal, map data from a first terminal, wherein the map data is generated based on first point cloud data of an object, pose data of the first terminal in a first camera coordinate system of the first terminal, and a two-dimensional feature image of the first terminal, wherein the first point cloud data indicates three-dimensional coordinate values of a surface point of the object in the first camera coordinate system of the first terminal;
obtaining, by the second terminal, pose data of the second terminal in a second camera coordinate system of the second terminal;
obtaining, by the second terminal, a two-dimensional feature image of the second terminal;
obtaining, by the second terminal, coordinate system transformation data between the first camera coordinate system and the second camera coordinate system based on the map data, the pose data of the second terminal in the second camera coordinate system, and the two-dimensional feature image of the second terminal;
and
synchronizing, by the second terminal, content in the virtual scenario based on the coordinate system transformation data.

3 more elements

A data processing terminal used in a virtual scenario, comprising:

a camera, configured to collect a first image comprising an image of an object;
a spatial positioning engine, configured to obtain first point cloud data of the object based on the first image, wherein the first point cloud data indicates three-dimensional coordinate values of a surface point of the object in a first camera coordinate system of the terminal;
and obtain pose data of the terminal in the first camera coordinate system based on the first image;
a feature extractor, configured to obtain a two-dimensional feature image based on the pose data, the first point cloud data, and the first image;
a map generator, configured to generate map data based on the first point cloud data, the pose data, and the two-dimensional feature image;
and
a communication interface, configured to send the map data to another terminal or a server.