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WO2022021309A1 - Procédé et appareil d'établissement de modèle, dispositif électronique, et support de stockage lisible par ordinateur - Google Patents

Procédé et appareil d'établissement de modèle, dispositif électronique, et support de stockage lisible par ordinateur Download PDF

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Publication number
WO2022021309A1
WO2022021309A1 PCT/CN2020/106167 CN2020106167W WO2022021309A1 WO 2022021309 A1 WO2022021309 A1 WO 2022021309A1 CN 2020106167 W CN2020106167 W CN 2020106167W WO 2022021309 A1 WO2022021309 A1 WO 2022021309A1
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Prior art keywords
grid
display layer
mesh
scene
geometric error
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English (en)
Chinese (zh)
Inventor
黄文杰
冯乐满
黄胜
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to PCT/CN2020/106167 priority Critical patent/WO2022021309A1/fr
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering

Definitions

  • the present application relates to the technical field of model establishment, and in particular, to a method, apparatus, electronic device, and computer-readable storage medium for establishing a model.
  • Levels of Detail refers to determining the resource allocation when rendering objects of the 3D model according to the position and importance of the 3D model in the display environment, so as to reduce the amount of distant or non-important objects. The number of faces and the degree of detail, thus reducing the consumption of resources.
  • LOD technology is often used in the field of computer graphics. Its purpose is to establish a three-dimensional model including multiple model display layers. Each model display layer is used to represent the same object, and different model display layers have different levels of detail. index.
  • the perfect display layer is simplified into multiple model display layers with decreasing details, and each model display layer is The hausdorff distance between the perfect display layer and the perfect display layer is used as the detail level indicator of each model display layer and the iteration termination condition of the simplified operation, so that the subsequent renderer can select the corresponding model display layer according to the detail level indicator. For display, for example, the farther the object is from the viewpoint, the model display layer with lower level of detail is selected to display the object.
  • the hausdorff distance reflects the model display layer and the perfect display layer.
  • the maximum distance value of the layer, and the hausdorff distance is used as the detail level indicator of the model display layer, which will cause the detail level indicator of the model display layer to be too large, resulting in a decrease in the subsequent rendering accuracy.
  • the present application provides a method, an apparatus and a computer-readable storage medium for establishing a model, which can solve the problems in the prior art that a perfect display layer needs to be calculated and generated, which leads to time-consuming and labor-intensive, and easily leads to a decrease in the subsequent rendering accuracy.
  • an embodiment of the present application provides a method for establishing a model, including:
  • Acquiring description accuracy information of the scene by the first grid display layer of the 3D model of the scene wherein the first grid display layer includes a plurality of grid surfaces used to display the surface of the 3D model of the scene, and the description accuracy
  • the information includes: the physical size information of the scene corresponding to the sampling point in the first grid display layer, and/or the actual projection point of the position point of the scene displayed by the sampling point in the first grid display layer deviation information from the sampling point;
  • the target geometric error of the second mesh display layer of the three-dimensional scene model is determined according to the description accuracy information, wherein the target geometric error is used to characterize the relative relationship between the mesh surfaces in the second mesh display layer and the The geometric error of the surface of the 3D model of the scene;
  • the grid simplification processing includes: folding the grid surfaces of the plurality of grid surfaces.
  • the edge forms a new point, and the formed new point is used as the corner point of the new mesh surface, and the actual geometric error of the new mesh surface relative to the surface of the three-dimensional model of the scene is equal to the target geometric error.
  • the difference is less than the preset threshold;
  • the new mesh surface formed is stored as the second mesh display layer of the three-dimensional model of the scene.
  • an apparatus for establishing a model including:
  • the memory is used for acquiring description accuracy information of the scene by a first grid display layer of the scene 3D model, wherein the first grid display layer includes a plurality of grids used to display the surface of the scene 3D model
  • the description accuracy information includes: physical size information of the scene corresponding to the sampling point in the first grid display layer, and/or, the position point of the scene displayed by the sampling point is displayed in the first grid deviation information between the actual projection point in the layer and the sampling point;
  • the processor is used to:
  • the target geometric error of the second mesh display layer of the three-dimensional scene model is determined according to the description accuracy information, wherein the target geometric error is used to characterize the relative relationship between the mesh surfaces in the second mesh display layer and the The geometric error of the surface of the 3D model of the scene;
  • Grid simplification processing includes: folding the grid surfaces of the plurality of grid surfaces.
  • the edge forms a new point, and the formed new point is used as the corner point of the new mesh surface, and the actual geometric error of the new mesh surface relative to the surface of the three-dimensional model of the scene is equal to the target geometric error.
  • the difference is less than the preset threshold.
  • the present application provides an electronic device, comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the computer program implementing the above when executed by the processor the method described in the aspect.
  • the present application provides a computer-readable storage medium, the computer-readable storage medium comprising instructions, which when executed on a computer, cause the computer to perform the method described in the above aspects.
  • the present application provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method described in the above aspects.
  • the present application determines the geometric error in the first grid display layer by using the existing physical size information and/or deviation information of the sampling points in the first grid display layer, so as to utilize the geometric error
  • the first grid display layer has a measure of the degree of detail.
  • the existing information of the sampling points in the first grid display layer obtained by the three-dimensional reconstruction of the scene is used, so that in the three-dimensional reconstruction scene, the measurement of the detail degree of the grid display layer is combined with the camera shooting process.
  • the existing characteristics in the regions of each scene better match the actual situation that the degree of detail in different regions is different, improve the accuracy of the termination simplification conditions when the mesh surface is simplified, and reduce the use of
  • the accuracy loss brought by the global hausdorff distance as the termination simplification condition makes it no longer rely on a known perfect display layer in the process of obtaining a multi-layer grid display layer with decreasing level of detail, eliminating the need to calculate the perfect display layer.
  • the process reduces the calculation pressure, and because the more accurate physical size information and/or deviation information of the sampling point is used to determine the target geometric error, the detail level of the grid display layer generated when the global hausdorff distance is used as the geometric error is solved.
  • the indicator is too large, which causes the problem of subsequent rendering accuracy decline.
  • FIG. 1 is a flowchart of a method for establishing a model provided by an embodiment of the present application
  • FIG. 2 is a schematic diagram of a grid display layer provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a simplified process of a grid display layer provided by an embodiment of the present application.
  • FIG. 5 is a schematic block diagram of a grid display layer provided by an embodiment of the present application.
  • FIG. 6 is a block diagram of an apparatus for establishing a model provided by an embodiment of the present application.
  • FIG. 1 is a flowchart of a method for establishing a model provided by an embodiment of the present application. As shown in FIG. 1 , the method may include:
  • Step 101 Acquire the description accuracy information of the scene by the first grid display layer of the three-dimensional model of the scene.
  • the first grid display layer includes a plurality of grid surfaces used to display the surface of the three-dimensional model of the scene
  • the description accuracy information includes: the scene corresponding to the sampling point in the first grid display layer Physical size information, and/or deviation information between the actual projection point of the scene represented by the sampling point and the sampling point in the first grid presentation layer.
  • the method for building a model can be applied to the field of building a three-dimensional model of a scene based on an image of a scene.
  • the method for building a model can reconstruct the scene based on images collected by a movable platform in the scene.
  • the 3D scene model can be displayed on the terminal through the renderer, so as to realize the 3D reconstruction display of the scene.
  • the movable platform may include: unmanned aerial vehicle, unmanned vehicle, unmanned boat, handheld shooting equipment, etc.
  • the goal of building a 3D model of a scene is to build a multi-layer grid display layer, and the level of detail of the multi-layer grid display layer decreases.
  • Each grid display layer can include multiple grid surfaces, and the grid surfaces are used for displaying
  • the 3D model of the scene corresponds to the surface of the object.
  • the mesh display layer can be understood as a regular polyhedron that wraps the sphere.
  • Different mesh display layers have different numbers of mesh faces. The higher the number of mesh faces, the higher the level of detail in the mesh display layer.
  • FIG. 2 it shows a schematic diagram of a grid display layer provided by an embodiment of the present application.
  • the grid display layer 10 is a regular hexahedron
  • the grid display layer 10 is a regular hexahedron
  • Layer 11 is a regular dodecahedron.
  • the number of grid surfaces of the grid display layer increases, and the grid display layer 11 is closer to a sphere than the grid display layer 10 . Therefore, the detail level of the grid display layer 11 is higher than that of the grid display layer 10 .
  • the first grid display layer can be the first layer with the highest level of detail in the three-dimensional model of the scene.
  • the first grid display layer can be constructed based on the images collected by the movable platform in the scene.
  • An implementation situation Motion recovery structure (SFM, structure from motion) technology can be used to realize the construction of the image collected by the movable platform in the scene as the first grid display layer.
  • the SFM technology can be based on the camera of the movable platform when the camera captures the image. pose, extract the point cloud data of the image, and establish a textured mesh display layer based on the textureless mesh layer of the point cloud data component and the texture of the image, and the textured mesh display layer can be used as the detail The highest level of the first grid presentation layer.
  • the first grid display layer may be in other layers except the last layer in the 3D model of the scene.
  • the first grid display layer may be constructed based on the previous grid display layer.
  • reference may be made to the following process of obtaining the second grid display layer from the first grid display layer.
  • the description accuracy information can be used to determine the detail level of the grid display layer, and the detail level of the grid display layer can be represented by a geometric error, which is used to characterize the mesh surface in the grid display layer relative to the scene.
  • the geometric distance between the surfaces of the 3D model that is, the surface of the object corresponding to the 3D model of the scene, and can also be understood as the surface of the mesh surface of the perfect mesh display layer.
  • the smaller the geometric error of the grid display layer the greater the number of grid surfaces included in the grid display layer, and the smaller the geometric distance between the grid surface of the grid display layer and the surface of the 3D model of the scene. Since the number of mesh faces is large, and the mesh faces are closer to the perfect mesh display layer, the more similar the mesh display layer is to the perfect mesh display layer, the higher the level of detail of the mesh display layer.
  • the grid display layer 10 is a regular hexahedron
  • the grid display layer 11 is a regular dodecahedron. It can be seen that the greater the number of grid surfaces of the grid display layer, the smaller the geometric distance between the grid surface and the sphere surface, so that the geometric error of the grid display layer 11 is smaller than that of the grid display layer 11 .
  • the description accuracy information of the scene on the first grid display layer of the 3D model of the scene is obtained, specifically, the physical size information of the scene corresponding to the sampling point in the first grid display layer may be obtained, and/or the sampling Deviation information between the actual projection point and the sampling point of the location point of the scene displayed by the point in the first grid display layer.
  • the sampling point can include the physical size information of the corresponding scene, and the physical size information can be called the ground sampling distance (gsd, ground sample distance), which can refer to the physical distance between the center point of adjacent pixels in the image corresponding to the ground .
  • the deviation information between the actual projection point of the scene displayed by the sampling point and the sampling point in the first grid display layer can be referred to as the motion recovery structure (SFM, Structure) in the first grid display layer.
  • SFM Motion recovery structure
  • SFM is a technology that calculates the internal and external parameters of a group of pictures according to the principle of multi-view geometry. Some sparse spots.
  • the deviation between the two-dimensional projection point projected from the position point to the image and the actual sampling point is also called the reconstruction residual.
  • the core of the SFM algorithm is to optimize the internal and external parameters of the camera and the three-dimensional point coordinates to minimize the reconstruction residual.
  • the deviation information in this embodiment of the present application may include the maximum value or the average value of the reconstruction residuals of the SFM sparse points in the first grid display layer.
  • the grid precision of each area of the scene is different.
  • the deviation information between the actual projection point of the scene displayed by the sampling point and the sampling point in the first grid display layer is used as the description accuracy information of the scene by the first grid display layer to display the first grid.
  • the geometric error of the layer is measured so that the first mesh display layer has a measure of the level of detail.
  • a global hausdorff distance is used to measure the detail level of each grid display layer. Due to the different grid precisions corresponding to different areas in the actual scene, the deviation of many areas is not as large as the global hausdorff distance. , the use of the global hausdorff distance will ignore the differences in each area, resulting in the level of detail of each grid display layer being represented by a larger hausdorff distance, resulting in a larger level of detail in the model display layer. Therefore, in the embodiment of the present application, the existing information of the sampling points in the first grid display layer obtained by the three-dimensional reconstruction of the scene is used, so that the measurement of the detail level of the grid display layer is combined with the camera shooting process in the three-dimensional reconstruction scene. The existing features in each region better match the actual situation that the details of different regions are differentiated, and reduce the accuracy loss caused by using the global hausdorff distance.
  • Step 102 Determine the target geometric error of the second mesh display layer of the three-dimensional model of the scene according to the description accuracy information.
  • the target geometric error is used to represent the geometric error of the mesh surface in the second mesh display layer relative to the surface of the three-dimensional model of the scene.
  • the first grid display layer after obtaining the description accuracy information of the first grid display layer, the first grid display layer can be simplified by performing a simplified operation to reduce the number of grid surfaces in the first grid display layer, and the result is obtained In the second mesh display layer, since the number of mesh faces in the second mesh display layer is reduced, the detail level of the second mesh display layer is reduced, thereby meeting the requirements of the LOD technology.
  • the target geometric error needs to be used as the termination condition of the simplification operation, that is, the geometric error between the new mesh surface formed after the simplification of the first mesh display layer and the surface of the three-dimensional model of the scene is continuously determined, until This geometric error is equal to or close to the target geometric error.
  • the target geometric error of the second grid display layer is determined according to the description accuracy information of the first grid display layer. Specifically, the description accuracy of the first grid display layer can be determined first. The geometric error of the first grid display layer is obtained by information calculation, and then the geometric error of the second grid display layer is determined according to the geometric error of the first grid display layer.
  • step 102 may specifically include:
  • Sub-step 1021 Determine the target geometric error of the first mesh display layer according to the description precision information and the first coefficient.
  • the product of the description precision information and the first coefficient may be determined as the target of the first grid display layer Geometric error, where the first coefficient may be a fixed conversion coefficient, or may be a coefficient established according to actual scene requirements, which is not limited in this embodiment of the present application.
  • Sub-step 1022 Determine the target geometric error of the second grid display layer according to the target geometric error of the first grid display layer.
  • the target geometric error of the second grid display layer may be determined according to the target geometric error of the first grid display layer according to actual modeling requirements and simplification requirements. If the level of detail of the layer is low, the target geometric error of the second grid display layer can be set to a larger value based on the target geometric error of the first grid display layer; If the value is high, the target geometric error of the second grid display layer may be set to a smaller value based on the target geometric error of the first grid display layer.
  • sub-step 1022 may specifically include:
  • Sub-step A1 Determine the target geometric error of the second grid display layer according to the target geometric error of the first grid display layer and the second coefficient.
  • the second coefficient increases as the number of layers where the second mesh display layer is located in the three-dimensional model of the scene increases.
  • the target geometric error of the second grid display layer is determined according to the target geometric error of the first grid display layer.
  • the product value of the target geometric error of the first grid display layer and the second coefficient may be determined as
  • the second coefficient can be a value greater than 1, so that as the number of layers where the grid display layer is located in the 3D model of the scene increases, the target geometric error of the grid display layer also increases. Large, the detail level of the grid display layer is gradually reduced to meet the requirements of LOD technology.
  • the three-dimensional model of the scene includes 3 mesh presentation layers m1, m2, and m3.
  • the target geometric error of each grid display layer is the product of the target geometric error of the previous grid display layer and the second coefficient, and the second coefficient can be the number of layers where the grid display layer is located.
  • the target geometric error is a, then the target geometric error of the grid display layer m2 is 2a, and the target geometric error of the grid display layer m2 is 3a.
  • the target geometric error of the grid display layer also increases, and the detail level of the grid display layer is gradually reduced.
  • the value of the second coefficient may be set according to actual needs, which is not limited in the embodiment of the present application.
  • Step 103 Perform grid simplification processing on the plurality of grid surfaces in the first grid display layer to obtain new grid surfaces.
  • the mesh simplification processing includes: folding the edges of the plurality of mesh surfaces to form new points, and using the formed new points as corner points of the new mesh surfaces, and the new mesh surfaces are relative to all the mesh surfaces.
  • the difference between the actual geometric error of the surface of the three-dimensional model of the scene and the target geometric error is smaller than a preset threshold.
  • the purpose of mesh simplification processing is to obtain the next mesh display layer by reducing the number of mesh faces in the current mesh display layer, so that the detail level of the next mesh display layer is lower .
  • FIG. 3 it shows a schematic diagram of a simplified process of a grid display layer provided by an embodiment of the present application.
  • An embodiment of the present application uses a relatively simple example to describe the grid simplification process.
  • FIG. 3 shows a mesh face set 12 and a mesh face set 13.
  • the mesh face set 12 includes 9 mesh faces, and the mesh face set 13 includes 7 mesh faces.
  • a new corner point may not be generated in the simplified operation, but one of the existing corner points may be used as the corner point of the new mesh surface, which is not made in this embodiment of the present application. limited.
  • the corner point v2 and the edge associated with the corner point v2 may be eliminated, and the obtained simplified mesh face set includes four triangular mesh faces and one pentagonal mesh face.
  • the first grid display layer obtains the second grid display layer through grid simplification processing, and the entire grid simplification processing can be implemented by multiple simplified iterative operations.
  • the obtained target geometric error of the second mesh display layer can be calculated in each or preset simplified iterative operation, and the actual geometric error of the currently obtained new mesh surface relative to the surface of the three-dimensional model of the scene and the target Whether the difference between the geometric errors is smaller than a preset threshold, if it is smaller, it is considered that the grid simplification process has been completed, and the actual geometric error of the second grid display layer obtained at this time is very close to the target geometric error, which is in line with the current application scenario. and LOD technology requirements. If it is greater than this, it is considered that the mesh simplification process has not been completed, and the next simplification iteration operation needs to be continued.
  • the preset threshold may be set according to actual requirements. For example, if the requirement for the accuracy of grid simplification processing is high, the preset threshold may be set to a smaller value.
  • Step 104 Store the formed new mesh surface as the second mesh display layer of the three-dimensional scene model.
  • the grid and texture data contained in the second grid display layer can be stored, specifically in the directory of the 3D model of the scene, so that the second grid display layer can be used as a scene A presentation layer for a 3D model.
  • the 3D model of the scene is established, and then the renderer can be used to render one or more layers of grid display layers in the 3D model of the scene.
  • the renderer can be used to render one or more layers of grid display layers in the 3D model of the scene.
  • Display in order to achieve resource allocation through multi-layer grid display layers when rendering objects in the 3D model of the scene, so as to reduce the number of faces and details of distant or non-important objects, thereby reducing resource consumption. For example, the farther the object is from the viewpoint, the mesh display layer with lower level of detail is selected to display the object.
  • the second grid display layer may be the next grid display layer of the first grid display layer, and the second grid display layer may also be several layers of grids below the first grid display layer.
  • the presentation layer for example, the first grid presentation layer is the first grid presentation layer of the scene 3D model, and the second grid presentation layer may be the nth grid presentation layer of the scene 3D model, where n ⁇ 2. This embodiment of the present application does not limit this.
  • a method for establishing a model uses the existing physical size information and/or deviation information of sampling points in the first grid display layer to determine the geometric error in the first grid display layer. A determination is made such that the first mesh presentation layer has a measure of the level of detail using the geometric error.
  • the existing information of the sampling points in the first grid display layer obtained by the three-dimensional reconstruction of the scene is used, so that in the three-dimensional reconstruction scene, the measurement of the detail degree of the grid display layer is combined with the camera shooting process.
  • the existing characteristics in the regions of each scene better match the actual situation that the degree of detail in different regions is different, improve the accuracy of the termination simplification conditions when the mesh surface is simplified, and reduce the use of
  • the accuracy loss brought by the global hausdorff distance as the termination simplification condition makes it no longer rely on a known perfect display layer in the process of obtaining a multi-layer grid display layer with decreasing level of detail, eliminating the need to calculate the perfect display layer.
  • the process reduces the calculation pressure, and because the more accurate physical size information and/or deviation information of the sampling point is used to determine the target geometric error, the detail level of the grid display layer generated when the global hausdorff distance is used as the geometric error is solved.
  • the indicator is too large, which causes the problem of subsequent rendering accuracy decline.
  • FIG. 4 is a specific flowchart of a method for establishing a model provided by an embodiment of the present application, and the method may include:
  • Step 201 Acquire the description accuracy information of the scene by the first grid display layer of the three-dimensional model of the scene.
  • step 201 reference may be made to the foregoing step 101, and details are not repeated here.
  • Step 202 Determine the target geometric error of the second mesh display layer of the three-dimensional scene model according to the description accuracy information.
  • step 202 reference may be made to the foregoing step 102, and details are not repeated here.
  • Step 203 Perform grid simplification processing on the plurality of grid surfaces in the first grid display layer to obtain new grid surfaces.
  • step 203 reference may be made to the foregoing step 103, and details are not repeated here.
  • Step 204 Store the formed new mesh surface as the second mesh display layer of the three-dimensional scene model.
  • step 205 reference may be made to the foregoing step 104, and details are not repeated here.
  • the first grid display layer includes a plurality of first grid blocks, and each of the first grid blocks includes a plurality of grid surfaces;
  • the target geometry of the first grid display layer The error includes a geometric error of each of the first grid blocks, and the description accuracy information of the first grid display layer includes a description accuracy value of each of the first grid blocks;
  • the second grid The display layer includes a plurality of second grid blocks, each of the second grid blocks includes at least one grid face;
  • the target geometric error of the second grid display layer includes each of the second grids
  • the geometric error of the block, the description precision information of the second grid display layer includes the description precision value of each of the second grid blocks.
  • the entire grid display layer may be divided into multiple independent grid blocks.
  • FIG. 5 shows the A block diagram of a grid display layer.
  • three grid display layers are included: grid display layer m0, grid display layer m1, grid display layer m2, and from grid display layer m0 to grid display layer m2, the level of detail decreases in order, grid display layer m0 has 16 grid blocks, the grid display layer m1 has 4 grid blocks, and the grid display layer m2 has 1 grid block, each grid block is equivalent to a node, forming a four-fork In a tree structure, the nodes between different layers have a parent-child relationship.
  • the grid display layer m2 has four child nodes, that is, the four grid blocks of the grid display layer m1.
  • the quad-tree structure is only a tree-shaped structure obtained by a block operation.
  • the tree-shaped structure may also include: a binary tree structure, a ternary tree structure, an octree structure, and the like.
  • the description precision information of each grid display layer may specifically include a description precision value of each grid block in the layer, that is, the description precision information may specifically be a set of description precision values of each grid block.
  • the target geometric error of each grid display layer may specifically include the geometric error of each grid block in the layer, that is, the target geometric error may specifically be a set of geometric errors of each grid block.
  • each grid block can correspond to a certain local area in the scene, the geometric error of each grid block can accurately reflect the accuracy and error of its corresponding local area.
  • the target geometric error of the layer can include the existing characteristics of each local area in the scene, which better matches the actual situation that the degree of detail in different areas is different, and further improves the termination of simplification when the mesh surface is simplified.
  • the precision of the condition is the most important to be considered.
  • grid simplification processing is performed on the grid surface of each first grid block in the first grid display layer to obtain a new grid surface in each of the first grid blocks.
  • the folded cost of the edges in the grid block is calculated according to the distance between the corner points of the new grid surface obtained after the grid simplification process and the target grid surface, the target grid surface For the mesh face adjacent to the corner point of the new mesh face in the mesh block before the mesh simplification process.
  • the reduced cost may actually be a value of a distance property, which can reflect the distance between the corner points of the new mesh surface obtained after the mesh simplification process and the target mesh surface. 3. Assuming that the grid block 12 and the grid block 13 are included in FIG. 3, the grid block 12 is simplified to obtain the grid block 13. In an implementation manner, the reduced cost of the grid block 13 can be The sum of the squares of the distances between the corner v3 of the new mesh face and the target mesh face (9 mesh faces in mesh block 12).
  • the iteration termination error of each grid block in the grid simplification process is a value obtained by the same hausdorff distance
  • the iteration termination error of each grid block in the embodiment of the present application is determined by each grid block. Obtained from the respective description precision values of the blocks, and the description precision values can be the gsd value of the largest corner point in the grid block, the product of the gsd value of the largest corner point and the preset coefficient, and the reconstruction residual of the SFM sparse point. any of the .
  • each grid block can retain its own characteristics, which better matches the actual situation that the details of different areas in the scene are different, and reduces the accuracy loss caused by the hausdorff distance scheme.
  • the texture resolution of the texture part in each grid block can also be adjusted according to the description precision value of the grid block during the grid simplification process, so as to simplify the details of the texture part.
  • the relevant information of each grid block can be specifically saved in a general LOD format file, such as an Open Scene Graph (OSG, OpenSceneGraph) format file.
  • OSG Open Scene Graph
  • OpenSceneGraph Open Scene Graph
  • the number of the second grid blocks is smaller than the number of the first grid blocks.
  • the number of grid blocks included in the grid display model at a higher layer is greater than the number of grid blocks included in the grid display model at a lower layer, that is, the number of grid blocks The smaller the number, the lower the level of detail of the grid display layer.
  • the number of grid blocks decreases layer by layer to meet the requirements of LOD technology to realize the 3D model of the scene including the multi-layer grid display layer with decreasing detail.
  • Step 205 Obtain a three-dimensional model of the scene including at least two grid display layers when the number of all grid surfaces of the second grid display layer satisfies a preset condition.
  • the termination condition for the establishment of the 3D model of the scene under the entire LOD architecture may be that the number of all mesh faces of the last mesh display layer is less than the preset number, that is, all meshes of the mesh display layer The number of grids is small enough so that the detail level of the grid display layer is low enough.
  • the preset quantity value may be set according to actual requirements, which is not limited in the embodiment of the present application.
  • Step 206 Render and display the target mesh display layer in the three-dimensional model of the scene that is within the range of the visible window of the screen.
  • the 3D scene model can be displayed, wherein the screen of the display device has a range of visible windows.
  • the 3D scene model can be imagined as a larger range
  • the user casts the visual window of the screen to watch the 3D model of the scene, and the visual window of the screen is smaller than the scene, that is, the visual window of the screen maintains a relative positional relationship with the 3D model of the scene at a moment, so that The visible window of the screen can only display a part of the 3D model of the scene.
  • the relative positional relationship between the visible window of the screen and the 3D model of the displayed scene can be changed.
  • a target mesh display layer in the three-dimensional model of the scene within the range of the visible window of the screen can be determined for rendering display.
  • the visual window of the screen is equivalent to the user's viewpoint, and the target grid display layer within the range of the visual window of the screen is selected for display, and the following rules can be followed: If the scene is far away, the grid display layer with the lower level of detail is selected to display the scene, thereby reducing the consumption of rendering resources by using the lower face count and detail degree of the grid display layer of the distant scene.
  • step 206 may specifically include:
  • Sub-step 2061 Calculate the maximum pixel error of each target grid display layer on the visible window in the order from the smallest to the largest number of grid faces included, and when the maximum pixel error is less than
  • the target grid display layer is equal to or equal to the preset error value, the target grid display layer whose maximum pixel error is less than or equal to the preset threshold is rendered and displayed.
  • the renderer can use the target geometric error ⁇ (L) of the grid display layer as the detail level indicator for selection and display.
  • the renderer can calculate a grid display during real-time rendering.
  • ⁇ (L) (f ⁇ (L))/D, where f is the focal length of the visible window, and D is the closest distance from the viewpoint to the grid display layer.
  • the fidelity requirements for the renderer to display according to the LOD are: ⁇ (L) ⁇ , ⁇ is a preset threshold value of constant nature, generally set to 1, then select the target grid layer that satisfies the condition of ⁇ (L) ⁇ to carry out Display it.
  • grid display layer m0 grid display layer m0
  • grid display layer m1 grid display layer m2
  • grid display layer m2 the specific process of rendering the scene in real time by the renderer is:
  • the display fidelity requirements of LOD technology ⁇ , ⁇ is generally taken as 1, that is, the maximum pixel error of the grid projected to the screen is less than one pixel. So if ⁇ (m2) ⁇ 1, then the renderer will select the grid display layer m2 for rendering, and no longer traverse its child nodes; if ⁇ (m2)>1, then the renderer will then traverse its child nodes in turn, that is, The grid displays the four block grids in the layer m1, and judges whether the grid display layer m1 is in the visible window, and if it is in the visible window, go to the next step; calculate the maximum pixel error of the grid display layer m1 projected to the screen ⁇ (m1), the subsequent process is the same as the above-mentioned processing for the grid display layer m2, until ⁇ 1 or the leaf node is reached. Through this rule, the grid display layer that meets the fidelity requirements can be selected and rendered.
  • the method further includes:
  • Step 207 Under the condition that the difference between the actual geometric error of the new mesh surface relative to the surface of the three-dimensional model of the scene and the target geometric error is greater than or equal to the preset threshold The grid surface is used as the first grid display layer, and the process goes to step 203 .
  • the first grid presentation layer obtains the second grid presentation layer through grid simplification processing, and the entire grid simplification processing can be implemented through multiple simplified iterative operations. How to determine when to stop the iteration, this application
  • the actual geometric error of the currently obtained new mesh surface relative to the surface of the three-dimensional model of the scene may be calculated in each or a preset simplified iterative operation.
  • the difference between the geometric error of the target and the target is less than a preset threshold, if it is less than, it is considered that the grid simplification process has been completed, and the actual geometric error of the second grid display layer obtained at this time is very close to the target geometric error, Meet the requirements of current application scenarios and LOD technology. If it is greater than that, it is considered that the mesh simplification process has not been completed, and the process goes to step 203, and the next simplification iterative operation is continued until the difference between the actual geometric error and the target geometric error is smaller than the preset threshold.
  • step 201 it may further include:
  • Step B1 Acquire at least one image to be reconstructed.
  • Step B2 constructing and obtaining the first grid display layer according to the image to be reconstructed.
  • the method for establishing the first grid display layer may be based on the images to be reconstructed collected in the scene by the movable platform, technology to obtain the first mesh display layer, so as to use it as the mesh display layer with the highest level of detail in the three-dimensional model of the scene.
  • the structure from motion (SFM, structure from motion) technology can be used to realize the construction of the image collected by the movable platform in the scene as the first grid display layer, and the SFM technology can be captured based on the camera of the movable platform.
  • the camera pose at the time of the image extract the point cloud data of the image, and establish a textured mesh display layer according to the textureless mesh layer of the point cloud data component and the texture of the image.
  • the textured mesh display layer is Can be used as the first mesh display layer with the highest level of detail.
  • step B2 may specifically include:
  • Step B21 Determine the camera pose and texture map corresponding to each of the to-be-reconstructed images.
  • the camera pose corresponding to each image to be reconstructed can be obtained based on the internal and external parameters of the image to be reconstructed by the camera, and a texture extraction model (convolutional neural network model is sufficient) ) can obtain the texture map corresponding to each image to be reconstructed.
  • a texture extraction model convolutional neural network model is sufficient
  • the internal and external parameters of the camera refer to the internal parameters of the camera (camera focal length, camera center point offset, camera distortion parameters, etc.) and external parameters (the rotation matrix and translation vector of the camera in the world coordinate system).
  • Step B22 Perform point cloud matching on two target images in the plurality of images to be reconstructed according to the camera posture to obtain point cloud data, and there are overlapping parts in the frames of the two target images.
  • point cloud matching is performed on two target images with overlapping parts in the multi-image to be reconstructed, and point cloud data can be obtained.
  • view stereo technology implementation.
  • the point cloud data in the scene refers to the collection of point data on the appearance surface of the objects in the scene obtained by the measuring instrument in the reverse engineering.
  • Step B23 constructing a textureless mesh display layer according to the point cloud data.
  • the point cloud data includes the three-dimensional coordinates of each point in the scene. Therefore, according to the point cloud data, a textureless mesh display layer reflecting the three-dimensional structure of the scene can be constructed. Specifically, this process can be obtained by the Poisson surface reconstruction technique.
  • Step B24 Map the textureless mesh display layer to the texture map, so as to determine the texture area corresponding to each mesh surface in the textureless mesh display layer from the texture map, and map the textureless mesh display layer to the texture map.
  • the texture area is added to the corresponding mesh surface to obtain the first mesh display layer.
  • the embodiment of the present application may map the textureless mesh display layer to the texture map as a whole, so as to obtain the texture map from the texture map. Determine the texture area corresponding to each mesh surface in the textureless mesh display layer, and add the texture area to the corresponding mesh surface to obtain the first mesh display layer. At this time, the obtained first mesh
  • the presentation layer has textures and can be rendered directly.
  • a method for establishing a model uses the existing physical size information and/or deviation information of sampling points in the first grid display layer to determine the geometric error in the first grid display layer. A determination is made such that the first mesh presentation layer has a measure of the level of detail using the geometric error.
  • the existing information of the sampling points in the first grid display layer obtained by the three-dimensional reconstruction of the scene is used, so that in the three-dimensional reconstruction scene, the measurement of the detail degree of the grid display layer is combined with the camera shooting process.
  • the existing characteristics in the regions of each scene better match the actual situation that the degree of detail in different regions is different, improve the accuracy of the termination simplification conditions when the mesh surface is simplified, and reduce the use of
  • the accuracy loss brought by the global hausdorff distance as the termination simplification condition makes it no longer rely on a known perfect display layer in the process of obtaining a multi-layer grid display layer with decreasing level of detail, eliminating the need to calculate the perfect display layer.
  • the process reduces the calculation pressure, and because the more accurate physical size information and/or deviation information of the sampling point is used to determine the target geometric error, the detail level of the grid display layer generated when the global hausdorff distance is used as the geometric error is solved.
  • the indicator is too large, which causes the problem of subsequent rendering accuracy decline.
  • FIG. 6 is a block diagram of an apparatus for establishing a model provided by an embodiment of the present application.
  • the apparatus 300 for establishing a model may include: a memory 301 and a processor 302;
  • the memory 301 is configured to perform: acquiring description accuracy information of the scene by a first mesh display layer of the three-dimensional model of the scene, wherein the first mesh display layer includes a plurality of surfaces used to display the three-dimensional model of the scene.
  • the description accuracy information includes: physical size information of the scene corresponding to the sampling point in the first grid display layer, and/or, the position of the scene displayed by the sampling point is in the first grid Deviation information between the actual projection point in the grid display layer and the sampling point; storing the formed new grid surface as the second grid display layer of the three-dimensional model of the scene;
  • the processor 302 is configured to execute:
  • the target geometric error of the second mesh display layer of the three-dimensional scene model is determined according to the description accuracy information, wherein the target geometric error is used to characterize the relative relationship between the mesh surfaces in the second mesh display layer and the The geometric error of the surface of the 3D model of the scene;
  • Grid simplification processing includes: folding the grid surfaces of the plurality of grid surfaces.
  • the edge forms a new point, and the formed new point is used as the corner point of the new mesh surface, and the actual geometric error of the new mesh surface relative to the surface of the three-dimensional model of the scene is equal to the target geometric error.
  • the difference is less than the preset threshold.
  • the processor 302 is specifically configured to:
  • a target geometric error of the second grid presentation layer is determined according to the target geometric error of the first grid presentation layer.
  • the processor 302 is specifically configured to:
  • the target geometric error of the second grid display layer is determined according to the target geometric error of the first grid display layer and the second coefficient.
  • the second coefficient increases as the number of layers where the second mesh display layer is located in the three-dimensional model of the scene increases.
  • the first grid display layer includes a plurality of first grid blocks, and each of the first grid blocks includes a plurality of grid surfaces;
  • the target geometry of the first grid display layer The error includes a geometric error of each of the first grid blocks, and the description precision information of the first grid display layer includes a description precision value of each of the first grid blocks;
  • the second grid display layer includes a plurality of second grid blocks, and each of the second grid blocks includes at least one grid surface; the target geometric error of the second grid display layer includes each The geometric error of the second grid block, and the description precision information of the second grid display layer includes a description precision value of each of the second grid blocks.
  • the number of the second grid blocks is smaller than the number of the first grid blocks.
  • the processor 302 is specifically configured to:
  • the processor 302 is specifically configured to:
  • all the new mesh surfaces As the first mesh display layer, and enter the step of performing mesh simplification processing on the plurality of mesh surfaces in the first mesh display layer to obtain a new mesh surface.
  • the processor 302 is specifically configured to:
  • the target mesh display layer in the three-dimensional model of the scene within the range of the visible window of the screen is rendered and displayed.
  • the processor 402 is specifically configured to:
  • the processor 402 is specifically configured to:
  • the first grid display layer is constructed and obtained according to the to-be-reconstructed image.
  • the processor 402 is specifically configured to:
  • point cloud matching is performed on two target images in the plurality of images to be reconstructed to obtain point cloud data, and there are overlapping parts in the frames of the two target images;
  • the textureless mesh display layer is mapped to the texture map to determine a texture area corresponding to each mesh face in the textureless mesh display layer from the texture map, and the texture The regions are added to the corresponding mesh faces to obtain the first mesh display layer.
  • the apparatus for establishing a model determines the geometric error in the first grid display layer by using the existing physical size information and/or deviation information of the sampling points in the first grid display layer , so that the first mesh display layer has a measure of the degree of detail by using the geometric error.
  • the existing information of the sampling points in the first grid display layer obtained by the three-dimensional reconstruction of the scene is used, so that in the three-dimensional reconstruction scene, the measurement of the detail degree of the grid display layer is combined with the camera shooting process.
  • the existing characteristics in the regions of each scene better match the actual situation that the degree of detail in different regions is different, improve the accuracy of the termination simplification conditions when the mesh surface is simplified, and reduce the use of
  • the accuracy loss brought by the global hausdorff distance as the termination simplification condition makes it no longer rely on a known perfect display layer in the process of obtaining a multi-layer grid display layer with decreasing level of detail, eliminating the need to calculate the perfect display layer.
  • the process reduces the calculation pressure, and because the more accurate physical size information and/or deviation information of the sampling point is used to determine the target geometric error, the detail level of the grid display layer generated when the global hausdorff distance is used as the geometric error is solved.
  • the indicator is too large, which causes the problem of subsequent rendering accuracy decline.
  • Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, each process of the above-mentioned method for establishing a model is implemented, and can achieve the same The technical effect, in order to avoid repetition, will not be repeated here.
  • the computer-readable storage medium such as read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), magnetic disk or optical disk and so on.
  • the memory can be an interface for connecting an external control terminal with a model-building device.
  • the external control terminal may include a wired or wireless headset port, an external power (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a control terminal with an identification module, an audio input /Output (I/O) ports, video I/O ports, headphone ports, and more.
  • the memory may be used to receive input (eg, data information, power, etc.) from an external control terminal and transmit the received input to one or more elements within the apparatus for modelling or may be used in the apparatus for modelling and Transfer data between external control terminals.
  • At least one magnetic disk storage device For example at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
  • the processor is the control center of the control terminal. It uses various interfaces and lines to connect various parts of the entire control terminal, and executes control by running or executing the software programs and/or modules stored in the memory and calling the data stored in the memory. Various functions of the terminal and processing data, so as to carry out overall monitoring of the control terminal.
  • the processor may include one or more processing units; preferably, the processor may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface and application programs, etc., and the modem processor Mainly deals with wireless communication. It can be understood that, the above-mentioned modulation and demodulation processor may not be integrated into the processor.
  • the embodiments of the present application may be provided as a method, a control terminal, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer readable memory result in an article of manufacture comprising the instruction to control the terminal,
  • the instruction controls the terminal to implement the function specified in one flow or multiple flows of the flowchart and/or one block or multiple blocks of the block diagram.

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Abstract

L'invention concerne un procédé et un appareil d'établissement d'un modèle et un support de stockage lisible par ordinateur. Le procédé comporte les étapes consistant à: obtenir des informations de précision de description d'une première couche d'affichage de grille d'un modèle tridimensionnel de scène pour une scène (101); déterminer une erreur géométrique cible d'une seconde couche d'affichage de grille du modèle tridimensionnel de scène selon les informations de précision de description (102); effectuer un traitement de simplification de grille sur de multiples surfaces de grille dans la première couche d'affichage de grille pour obtenir de nouvelles surfaces de grille (103); et utiliser les surfaces de grille nouvellement formées en tant que seconde couche d'affichage de grille du modèle tridimensionnel de scène en vue d'un stockage (104). Selon le procédé, dans le processus d'obtention des couches d'affichage de grille présentant des niveaux de détail décroissants, le processus de calcul d'une couche d'affichage parfait est éliminé et la pression de calcul est réduit; en outre, du fait que des informations de taille physique et/ou des informations d'écart de points d'échantillonnage plus précises sont utilisées pour déterminer l'erreur géométrique cible, le problème qui fait que, lorsqu'une distance de Hausdorff globale est utilisée en tant qu'erreur géométrique, l'indice de niveau de détail de la couche d'affichage de grille est trop élevé, provoquant ainsi une baisse de la précision de rendu subséquente, est résolu.
PCT/CN2020/106167 2020-07-31 2020-07-31 Procédé et appareil d'établissement de modèle, dispositif électronique, et support de stockage lisible par ordinateur Ceased WO2022021309A1 (fr)

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CN114943804A (zh) * 2022-06-01 2022-08-26 中车青岛四方机车车辆股份有限公司 模型处理方法、装置、非易失性存储介质和计算机设备
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CN115272618A (zh) * 2022-09-20 2022-11-01 深圳市其域创新科技有限公司 三维网格优化方法、设备及存储介质
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