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WO2017006223A1 - Moteur graphique permettant de créer et d'exécuter des applications avec des interfaces multi-sensorielles - Google Patents

Moteur graphique permettant de créer et d'exécuter des applications avec des interfaces multi-sensorielles Download PDF

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Publication number
WO2017006223A1
WO2017006223A1 PCT/IB2016/053925 IB2016053925W WO2017006223A1 WO 2017006223 A1 WO2017006223 A1 WO 2017006223A1 IB 2016053925 W IB2016053925 W IB 2016053925W WO 2017006223 A1 WO2017006223 A1 WO 2017006223A1
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WIPO (PCT)
Prior art keywords
graphic
engine
graphic engine
support
management
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Ceased
Application number
PCT/IB2016/053925
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English (en)
Inventor
Candido MOSCHETTONI
Davide MARZILLI
Marco Salvatore DE VECCHI
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Nivi Group SpA
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Nivi Group SpA
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Priority to MX2018000042A priority Critical patent/MX2018000042A/es
Publication of WO2017006223A1 publication Critical patent/WO2017006223A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/451—Execution arrangements for user interfaces
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G06T15/005—General purpose rendering architectures

Definitions

  • the present invention relates to a graphic engine for creating and executing applications with multisensory interfaces.
  • PC Personal Computers
  • computers were to be classified along a technological timeline, they might be schematically grouped into four eras, each era being characterized by its peculiar and specific usage of and interaction with information, meeting the requirements of representation and usage of the contents available and present in that historical period:
  • HCIs have evolved with time, from CLI interfaces, through GUI interfaces, to what can be defined as the "next evolutionary step after the shift from the Command Line Interface (CLI) to the Graphical User Interface (GUI)", i.e. the NUI , Natural User Interface.
  • CLI Command Line Interface
  • GUI Graphical User Interface
  • the mouse and the graphical interface were introduced: users could interact more easily with the system by moving the mouse, and had a greater interaction with contexts and objects and with the active contents displayed on the screen.
  • the NUI allows users to handle contents more directly, using more natural movements, actions and gestures .
  • the Natural Interaction or Natural Interface may be defined as an approach to the use of the technological devices that are being studied and promoted, an intuitive and spontaneous relationship with technology, by the activation of "the cognitive and cybernetic dynamics that people commonly experience in real life,, when they discover reality by looking around and handling objects and communicate using gestures, expressions, movements".
  • the user is no longer required to possess and develop technology-specific abilities and skills, but may freely approach the machine and get to know, learn and take the instruments he/she needs through the use of the machine itself.
  • the NUI paradigm meets the new information usage needs, with each user having infinite heterogeneous information at his/her disposal in thousands of different systems.
  • Computer devices may be currently classified into two large classes of use:
  • PC interfaces are not merely a software or hardware problem, and a number of other factors have to be considered, such as ergonomics, compatibility with other software products, assessment of actual improvement in daily use, and last but not least the need of teaching users to do the same things they did before in a different manner.
  • Multimedia tables totems, interactive video walls, operator consoles, are the main devices provided by these companies, the best known and most active of which, in terms of device development and especially software and development environments are Ideum, based in the US, Mul titaction , based in Finland, Intuilab, based in France, U-Touch, based in the UK, and obviously Microsoft.
  • Prior art products consist of combinations of hardware and software solutions and SDKs for development of specific applications. These mainly include software applications developed for digital signage or museum applications, or simply media viewers, allowing effective use of hardware potential.
  • Certain products are also developed for different, more professional users, such as GIS software for environmental management and control, supervision software, or highly complex software for airport control.
  • the object of the present invention is to provide a new generation of hardware-software systems for corporate use, which are aimed at increasing productivity, simplifying process management and affording a more intuitive and attractive user experience, as well as filling the void in the market, and providing an environment that allows fast development of applications for supporting the new forms of interaction and communication with external sensors, devices and systems.
  • the object of the present invention is to provide an engine that meets the demands of companies and has the peculiar stability, safety and functions required for professional use.
  • This graphic engine is required to be able to readily create applications for complex systems, not only designed for digital signage or museum or recreational applications.
  • the invention fulfills the aforementioned objects by providing a graphic engine for creating and executing applications with multisensory interfaces, which graphic engine consists of middleware software lying between the operating system and the final application and comprises specialized libraries for implementing applications with real-time graphics, which graphic engine is characterized in that said graphic engine is georeferenced, i.e. addresses points and elements in space using geographic coordinates.
  • the graphic engine has at least one or preferably multiple libraries selecting from the following group of libraries:
  • the graphic engine comprises supports for one or more of the following functions:
  • the graphic engine has been designed and developed directly on the basis of OpenGL cross-platform graphics API as defined by Khronos Group (http://www.khronos.org) .
  • the graphic engine so obtained affords representation of data in a two/three-dimensional environment and two/three-dimensional objects georeferenced to Latitude-, Longitude- and
  • the graphic engine of the present invention forms the interface of I/O devices such as multi-touch systems, voice systems and in-air gesture systems .
  • the graphic engine of the present invention is a front-end system and a client that can represent three-dimensional environments or maps for use through advanced input systems and is further adapted to represent data from external sources.
  • the architecture of the graphic engine of the present invention is modular and comprises 6 macro-areas dedicated to peculiar aspects of the framework, which communicate with one another during execution of the application, and consist of :
  • the "RESOURCE SUBSYSTEM” macro area which contains the engine modules required for loading external data resources from multiple sources such as: file systems and local storage devices through LFS modules and pen drives, which use the Storage Controller of the operating system to obtain the interface with the hardware devices, network protocols through the "Net” module, which use the “Socket” modules of the system for interfacing with the distributed network services, proximity devices through the "NFC” module, which interfaces with the "Input Drivers” module of the operating system.
  • the "GEOSPATIAL SUBSYSTEM” macro-area which contains the engine modules required for loading, converting and processing geolocation and cartographic information retrieved from any type of external data resources managed by the "RESOURCE SUBSYSTEM” or the application itself.
  • the abstraction of such resources is carried out by creating geometries expressed in geographic coordinates ("Geometry" module) from raw data or modules that process data in multiple standard geospatial standards, such as: KML/KMZ for reading KML and KMZ formats , Shapefile for reading ESRI Shapefile formats, WKB/WKT for reading WKB and WKT formats, GeoJSON for reading the GEOJson format, WMS/WFS for reading data of WMS and WFS Web services, DEM for reading geographic Digital Elevation Model (DEM) data expressed in the HGT format.
  • the "INPUT" macro-area has the purpose of collecting and processing user inputs to the application from peripheral devices of the system supported by the engine and exposed by the operating system through "Input Drivers" (40) ;
  • the engine manages touch control and text input peripheral devices through the modules: “Keyboard” for managing text input from a physical keyboard, such module being implemented through the SDL library, “Mouse” for touch emulation using mouse peripheral devices, such module being implemented through the SDL library, MTDev for using Linux-native MultiTouch peripheral devices, “Tuio” for communication with peripheral devices using the TUIO protocol, “WM Touch” for using Windows-native MultiTouch peripheral devices, "Leap Motion” for interfacing with Leap Motion input peripheral devices .
  • Keyboard for managing text input from a physical keyboard
  • “Mouse” for touch emulation using mouse peripheral devices
  • MTDev for using Linux-native MultiTouch peripheral devices
  • Tuio for communication with peripheral devices using the TUIO protocol
  • W Touch for using Windows-native MultiTouch peripheral devices
  • Leap Motion for interfacing with Leap Motion input peripheral devices .
  • the "EVENT SUBSYSTEM” macro area has the purpose of providing the synchronization and parallelism mechanisms required by the internal parts of the engine and for the logics of the applications being executed, from the "IPC" modules provided by the operating system.
  • This area is composed of the following modules: “Async Operations” which manages all asynchronous operations and synchronization thereof with the main thread, which is the only one that allows graphic operations, "Task Scheduler” which provides time scheduling of single or repeated operations, "Publish/Subscribe” which provides the primitives required to implement Publish/Subscribe architectural patterns for the application modules.
  • the "PRESENTATION LAYER" macro area is the part that has the purpose of managing and rendering the graphic elements of the application, which are added to the graphic window of the "Window” module initialized through the SDL library. All the graphic parts in the engine are constructed on standard graphic and cross-platform "OpenGL” APIs, which are exposed by the Display Driver of the operating system provided by the manufacturer of the graphic adapter.
  • the "PHYSICS” macro area has the purpose of providing animation and interaction components among the graphic objects of the system reflecting the behaviors close to the real physics of nature- occurring elements.
  • the "Animation” module has the purpose of providing an animation system with paradigms and primitives similar to those as used in computer graphics.
  • the "Effect” module has the purpose of managing graphic "collisions" among objects and parts of the application surface, to react to given events dictated by the logics of the application itself.
  • the “Kinetics” module has the purpose of providing inertia to the graphic objects, according to physical movement parameters similar to the real ones.
  • the graphic engine of the present invention logically lies between the application software and the operating system. Therefore, it can be considered as middleware required for execution of the application .
  • the application uses the APIs to invoke commands contained in the libraries of the graphic engine, and such APIs in turn communicate with the operating system and its drivers, thereby actually executing the task .
  • Certain components such as the geolocation component and libraries, e.g. the GIS libraries, also require a database for storage of the functional data of the graphic engine.
  • the database e.g. the GIS libraries
  • the geolocation libraries may be of Sql or noSql type, provided that it has extensions supporting the aforementioned geolocation libraries, such as the GIS.
  • the graphic engine of the present invention forms a software package, including libraries, databases and all the features required both for development of new applications and for execution of such applications.
  • Fig. 1 shows a general block diagram of a device or a hardware-software product in which the graphic engine of the present invention is loaded and executed;
  • Figure 2 shows a block diagram of the architecture of an exemplary embodiment of the graphic engine of the present invention.
  • the graphic engine of the present invention is designated by numeral 1 and lies as middleware between the Input/Output systems and the operating system 2.
  • the Input/Output systems may be of any type and comprise one or more of currently known Input/Output devices, as well as possible future Input/Output systems and devices.
  • the figure shows, by way of example and without limitation, a tablet 3, a multi-touch screen 4, a multi-touch table 5 and an audio/video system.
  • the graphic engine 1 also has interfaces for external data provisioning/processing services, which are referenced Service 1, 2, 3 and N.
  • the integration of the graphic engine of the present invention will provide a multisensory device that is not available yet, and has the following basic parts:
  • the form of the object shall depend on the purpose of the object itself.
  • a device designed to facilitate cooperation and decisions should be provided in the form of a table.
  • a device designed for supervision should be provided in the form of a wall mount monitor or panel.
  • the device is designed for use by an operator, it should preferably be in the form of a console, and so on.
  • the second basic part is the computer, which must be integrated and have a compact size, but is also required to ensure adequate performances, especially for video management.
  • the third element is the operating system, which has the task of managing the basic functions of the system and operates as an interface between the hardware and the application part.
  • the choice of the OS may be made according to customer-specific limitations, although the graphic engine of the invention is substantially of cross-platform type, and is hence able to run without distinction on all common operating systems.
  • the fourth element is the software component, i.e. the graphic engine of the invention, which is the basis of the applications that will leas to the creation of the hardware, i.e. the fifth element.
  • the last essential element consists of the data, which may be retrieved from external systems and hence require a Data Fusion server component .
  • this component has the purpose of being the graphic engine of what is represented on screen and on the interactions of users therewith.
  • the graphic engine has been designed and developed directly on the basis of OpenGL cross-platform graphics API as defined by Khronos Group (http : //www . khronos . org (https : / www . khronos . org)
  • Such engine has been implemented using as a programming method, in addition to OpenGL for graphic rendering, the language that is deemed to be most suitable for creating our graphic engine, i.e. the python language for the scripting component C++ for graphic libraries.
  • the choice of python as the main language is essentially dictated by the need of using a light, dynamic, modern and simple and flexible programming language, that supports both the object-oriented paradigm and structured programming, as well as many functional programming and reflection features. It also has a wide standard library, which makes it suitable for many uses, with the possible addition of further modules written in C, C ++ or other languages. It is compatible with all the platforms and, due to the simplicity of writing extensions in C an C ++ , it combines the language-specific simplicity with the high-level performances of C and C ++ languages .
  • the added value of the graphic engine of the present invention should be substantially found in the stability of the system and the implementation and integration of a 3D engine (created using OpenGL) in the graphic engine itself.
  • This 3D engine allows data to be represented in a three-dimensional environment that can be addressed along three axes .
  • This three-dimensional environment allows the creation of 3-axis maps, with the inclusion of elevations, and the possibility of introducing three- dimensional elements and objects on the map, such as buildings or facilities, as well as the representation of POIs on coordinates composed of Latitude, Longitude and Elevation.
  • OpenGL-based libraries have been created, with allow the generation of new elements without having to directly write in the OpenGL code .
  • the architecture of the graphic engine of the present invention as shown in Figure 2 has a modular structure and lies between the executive application (10) and the software libraries and the operating system being executed.
  • the modules of the architecture are divided into 6 macro-areas dedicated to peculiar aspects of the framework, which communicate with one another during execution of the application.
  • the "RESOURCE SUBSYSTEM” macro area (20) contains the engine modules required for loading external data resources from multiple sources such as: file systems and local storage devices through LFS modules (210) and pen drives (211) , which use the Storage Controller (42) of the operating system to obtain the interface with the hardware devices, network protocols through the "Net” module (212) , which use the “Socket” modules (43) of the system for interfacing with the distributed network services, proximity devices through the "NFC” module (209) which interfaces with the "Input Drivers” module (40) of the operating system.
  • Each type of resource that can be obtained from these sources is abstracted by means of a specialized "Resource Adapter” (208) which provides a standard interface for obtaining high-level elements managed by the engine: Image (202) for managing raster images using a Freelmage library (31) , Video (203) for managing audiovisual elements using the VLC library (38) , PDF (205) for managing PDF documents using the Poppler library (34) , Text for managing text elements using the FreeType library (32) , HTML (204) for managing documents and hypertext links using Chromium Framework (30) and SSL (37) libraries, SVG (207) for managing vector image formats, Raw Data (201) for all the other types that have no direct connection with the rendering component but require ad hoc processing of the application being executed. The latter are connected via the "Data Adapters" (200) to the graphic part of the engine, which allows proper display thereof according to criteria selected by the application being executed.
  • the "GEOSPATIAL SUBSYSTEM” macro-area (25) contains the engine modules required for loading, converting and processing geolocation and cartographic information retrieved from any type of external data resources managed by the "RESOURCE SUBSYSTEM” (20) or the application itself.
  • the abstraction of such resources is carried out by creating geometries expressed in geographic coordinates ("Geometry" module (252)) from raw data or modules that process data in multiple standard geospatial standards, such as: KML/KMZ (253) for reading KML and KMZ formats, Shapefile (250) for reading ESRI Shapefile formats, WKB/WKT (254) for reading WKB and WKT formats, GeoJSON (255) for reading the GEOJson format, WMS/WFS (256) for reading data of WMS and WFS Web services, DEM (257) for reading geographic Digital Elevation Model (DEM) data expressed in the HGT format.
  • KML/KMZ 253
  • Shapefile 250
  • WKB/WKT 254
  • GeoJSON 255
  • this data may be converted using automatic cartographic projection techniques or guided by the application using the "GeoProcessing" module (251) which uses the PROJ.4 library (35) to make the required mathematical calculations.
  • This module also has the purpose of implementing certain conventional geodetic measurements, such as route calculations and distances between geographic points.
  • the "INPUT" macro-area (21) has the purpose of collecting and processing user inputs to the application from peripheral devices of the system supported by the engine and exposed by the operating system through "Input Drivers” (40) .
  • the engine manages touch control and text input peripheral devices through the modules: “Keyboard” (214) for managing text input from a physical keyboard, such module being implemented through the SDL library (36) , “Mouse” (213) for touch emulation using mouse peripheral devices, such module being implemented through the SDL library (36) , MTDev (217) for using Linux-native MultiTouch peripheral devices, "Tuio” (212) for communication with peripheral devices using the TUIO protocol, "WM Touch” (215) for using Windows-native MultiTouch peripheral devices, "Leap Motion” (216) for interfacing with Leap Motion input peripheral devices.
  • All the data retrieved by these providers is processed and abstracted by the "Raw Input” module (211) which may transfer it upon request directly to the application (10) or may transfer it to the "Gesture” module (210) which represents the global multi-touch gesture recognition and gesture behavior disambiguation manager for all the elements upon which the user may exert his/her interaction on the window of the application being executed.
  • This module has the purpose of recognizing, in the indistinct flow of user-generated touches, the specific behaviors that can be reconducted to standard gestures and recognized by the engine, which has the purpose of propagating them to the appropriate elements of the application interface, thereby relieving the application of any type of control logics and uniforming gesture recognition over all the applications executed through the engine.
  • the "EVENT SUBSYSTEM” macro area (22) has the purpose of providing the synchronization and parallelism mechanisms required by the internal parts of the engine and for the logics of the applications being executed, from the "IPC” modules (44) ) provided by the operating system.
  • This area is composed of the following modules: “Async Operations” (220) which manages all asynchronous operations and synchronization thereof with the main thread, which is the only one that allows graphic operations, "Task Scheduler” (221) which provides time scheduling of single or repeated operations, "Publish/Subscribe” (222) which provides the primitives required to implement Publish/Subscribe architectural patterns for the application modules.
  • the "Presentation Layer” macro area (23) is the part that has the purpose of managing and rendering the graphic elements of the application, which are added to the graphic window of the "Window” module (230) initialized through the SDL library (36) . All the graphic parts in the engine are constructed on standard graphic and cross-platform "OpenGL” APIs (33) , which are exposed by the Display Driver (41) of the operating system provided by the manufacturer of the graphic adapter.
  • Management, processing and caching of graphic elements is divided in the engine into two main modules, i.e. "2D Canvas” (231) and "3D Scene Manager” (232) , which have the purpose of managing two-dimensional and three-dimensional graphic resources respectively of the application.
  • the two- dimensional graphic resources are also managed by the following specific modules: “Widgets” (233) which represent the extendable base interface elements offered by the engine, “CSS” (236) which manages customization and animation of these objects through CSS style sheets, “IDL” (234) which allows interface description through a XML-based language and which, with the "CSS” module (236) , provides essential tools to allow the application development team to not necessarily have software programming knowledge to act on the graphic interface of the application, "Unit” (235) which manages the transformations of graphic measurement units and particularly manages the physical measurement units of hardware devices. Due to this aspect the applications developed by the engine are able to adapt some or all of the graphic elements and user interactions therewith to multiple screens of different sizes and resolutions.
  • the possibility of not using only virtual measurement units common to all graphic environments, such as pixels, allows direct use of real measurement units such as centimeters, to define the dimensions of the graphic elements and the surfaces designed for interaction by the user, for a homogeneous experience and ergonomics of the interface for devices of various shapes and sizes.
  • the three-dimensional elements directly relate to the "3D Scene Manager” module (232) which has the purpose of managing one or more three-dimensional scenes, the placement of objects therein, the management of the virtual camera framing the scene, the lights and any possible interaction by the user or the application with these scenes.
  • the "3D Scene Manager” module (232) which has the purpose of managing one or more three-dimensional scenes, the placement of objects therein, the management of the virtual camera framing the scene, the lights and any possible interaction by the user or the application with these scenes.
  • the "Presentation Layer” (23) has been specially designed to visually support a great number of two- and three-dimensional graphic elements (of the order of thousands) .
  • the "Physics” macro area (24) has the purpose of providing animation and interaction components among the graphic objects of the system reflecting the behaviors close to the real physics of nature- occurring elements.
  • the "Animation” module (240) has the purpose of providing an animation system with paradigms and primitives similar to those as used in computer graphics.
  • the "Effect” module (242) has the purpose of managing graphic "collisions" among objects and parts of the application surface, to react to given events dictated by the logics of the application itself.
  • the “Kinetics” module (241) has the purpose of providing inertia to the graphic objects, according to physical movement parameters similar to the real ones.
  • the structure of the graphic engine of the present invention ensures the following functions:
  • WM_Touch Management of the most widespread input protocols such as for example WM_Touch, WM_Pen, Trackpad, MtDEv, Linux Kernel HID, TUIO and others,
  • the graphic engine as described above provides the following supports: Native support for physical measurement units (dimensioning of scalable graphic elements based on the device that contains the application)

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Graphics (AREA)
  • Geometry (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Processing Or Creating Images (AREA)
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Abstract

L'invention concerne un moteur graphique permettant de créer et d'exécuter des applications avec des interfaces multi-sensorielles. Selon l'invention, ledit moteur graphique est constitué d'un logiciel intergiciel se trouvant entre le système d'exploitation et l'application finale et comprend des bibliothèques spécialisées de mise en œuvre d'applications avec des graphiques en temps réel, ledit moteur graphique se caractérisant par le fait qu'il est géoréférencé, c'est-à-dire qu'il adresse des points et des éléments dans l'espace au moyen de coordonnées géographiques.
PCT/IB2016/053925 2015-07-08 2016-06-30 Moteur graphique permettant de créer et d'exécuter des applications avec des interfaces multi-sensorielles Ceased WO2017006223A1 (fr)

Priority Applications (1)

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MX2018000042A MX2018000042A (es) 2015-07-08 2016-06-30 Motor grafico para la creacion y ejecucion de aplicaciones con interfaces multisensoriales.

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IT102015000032149(UB2015A00202 2015-07-08
ITUB2015A002024A ITUB20152024A1 (it) 2015-07-08 2015-07-08 Motore grafico per la creazione ed esecuzione di applicazioni con interfacce multisensoriali

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CN111986282A (zh) * 2020-08-21 2020-11-24 上海二三四五网络科技有限公司 一种打开HEIC格式图片的插件、FreeImage及其应用程序
CN113806830A (zh) * 2021-09-26 2021-12-17 桂林电子科技大学 基于WEB地图绘制室内地图GeoJSON数据的方法
CN116431368A (zh) * 2023-06-13 2023-07-14 湖南大学 一种面向自主无人系统的传感器即插即用中间件
CN118466910A (zh) * 2024-07-09 2024-08-09 南京南瑞水利水电科技有限公司 一种适用于高仿真引擎的Geojson数据可视化方法及系统
WO2024244661A1 (fr) * 2023-05-26 2024-12-05 淘宝（中国）软件有限公司 Procédé d'exécution d'application xr, procédé d'exécution de contenu xr, dispositif, et support de stockage

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WO2020051233A1 (fr) * 2018-09-04 2020-03-12 Aveva Software, Llc Aide à la décision d'un opérateur scada utilisant un système et un procédé de serveur de données opérationnelles et d'ingénierie intégrés
CN111986282A (zh) * 2020-08-21 2020-11-24 上海二三四五网络科技有限公司 一种打开HEIC格式图片的插件、FreeImage及其应用程序
CN111986282B (zh) * 2020-08-21 2024-06-07 上海二三四五网络科技有限公司 一种打开HEIC格式图片的插件、FreeImage及其计算机程序
CN113806830A (zh) * 2021-09-26 2021-12-17 桂林电子科技大学 基于WEB地图绘制室内地图GeoJSON数据的方法
CN113806830B (zh) * 2021-09-26 2023-05-16 桂林电子科技大学 基于WEB地图绘制室内地图GeoJSON数据的方法
WO2024244661A1 (fr) * 2023-05-26 2024-12-05 淘宝（中国）软件有限公司 Procédé d'exécution d'application xr, procédé d'exécution de contenu xr, dispositif, et support de stockage
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CN116431368B (zh) * 2023-06-13 2023-09-22 湖南大学 一种面向自主无人系统的传感器即插即用中间件
CN118466910A (zh) * 2024-07-09 2024-08-09 南京南瑞水利水电科技有限公司 一种适用于高仿真引擎的Geojson数据可视化方法及系统

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