Method and device for automatic deformation of human body parametric model based on three-dimensional point cloud

Abstract

The present application relates to a method, device, computer equipment and storage medium for automatic deformation of a human body parametric model based on a three-dimensional point cloud. The method comprises: obtaining a target first vertex having a position correspondence relationship with a target second vertex in a second vertex set corresponding to a target three-dimensional object model from a first vertex set corresponding to an initial fitting three-dimensional object model; obtaining a target vertex constraint item, the target vertex constraint item comprising a position adjustment item corresponding to the target first vertex and the difference between the position of the target second vertex, the position adjustment item being the result of an operation between a first position adjustment parameter corresponding to the target first vertex and the position of the target first vertex; determining a numerical value corresponding to the first position adjustment parameter when the target vertex constraint item satisfies a minimization constraint condition, adjusting the position of the target first vertex using the obtained numerical value, and obtaining a target fitting three-dimensional object model. The use of this method can improve the accuracy of the human body parametric model.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a method, device, computer equipment and storage medium for automatically deforming a human body parameterized model based on a three-dimensional point cloud. Background Art

[0002] With the development of computer technology, 3D (three dimensional) technology has emerged, and the application of human body 3D models in 3D printing, clothing customization, virtual fitting, and animation production has been continuously explored. For example, a human body parametric model similar to a real person can be used to realize a virtual catwalk. Therefore, in 3D applications, how to obtain a human body parametric model similar to a real person is particularly important.

[0003] At present, depth cameras and other equipment are usually used to measure the human body to obtain a human body parametric model. However, this method is easily affected by factors such as the movement speed of the measured human body, resulting in the failure to obtain a human body parametric model that is very similar to the real human body, that is, the obtained human body parametric model has low accuracy. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device, computer equipment and storage medium for automatic deformation of a human body parametric model based on a three-dimensional point cloud, which can improve the accuracy of the human body parametric model, in order to address the technical problem of low accuracy of the human body parametric model obtained above.

[0005] A method for automatic deformation of a human body parameterized model based on a three-dimensional point cloud, the method comprising: obtaining an initial fitting three-dimensional object model corresponding to a target three-dimensional object model, the initial fitting three-dimensional object model being obtained by fitting according to three-dimensional joint points corresponding to the target three-dimensional object model; the initial fitting three-dimensional object model corresponding to a first vertex set, and the target three-dimensional object model corresponding to a second vertex set; obtaining a target first vertex having a position corresponding relationship with a target second vertex in the second vertex set from the first vertex set; obtaining a target vertex constraint item, the target vertex constraint item comprising a position adjustment item corresponding to the target first vertex and a difference between the position of the target second vertex, the position adjustment item being a result of an operation between a first position adjustment parameter corresponding to the target first vertex and the position of the target first vertex; determining that when the target vertex constraint item satisfies a minimization constraint condition, the value corresponding to the first position adjustment parameter is obtained to obtain a first position adjustment factor corresponding to the target first vertex; adjusting the position of the corresponding target first vertex using the first position adjustment factor to obtain a target fitting three-dimensional object model corresponding to the target three-dimensional object model.

[0006] In some embodiments, the target vertex constraint item also includes a difference item consisting of the first position adjustment parameter and the second position adjustment parameter, the second position adjustment parameter is a position adjustment parameter corresponding to the first associated vertex, and the first associated vertex is a first vertex having a connection relationship with the target first vertex; the method also includes: determining that when the target vertex constraint item satisfies the minimization constraint condition, the value corresponding to the second position adjustment parameter is obtained, and the second position adjustment factor corresponding to the first associated vertex is obtained; using the first position adjustment factor to adjust the position of the corresponding target first vertex to obtain the target fitting three-dimensional object model corresponding to the target three-dimensional object model includes: using the first position adjustment factor to adjust the position of the corresponding target first vertex, and using the second position adjustment factor to adjust the position of the first associated vertex to obtain the target fitting three-dimensional object model corresponding to the target three-dimensional object model.

[0007] In some embodiments, the target vertex constraint item also includes a difference item consisting of the second position adjustment parameter and a third position adjustment parameter, the third position adjustment parameter is a position adjustment parameter corresponding to the second associated vertex, and the second associated vertex is a first vertex having a connection relationship with the first associated vertex; the method also includes: determining the value corresponding to the third position adjustment parameter when the target vertex constraint item satisfies the minimization constraint condition, and obtaining a third position adjustment factor corresponding to the second associated vertex; using the first position adjustment factor to adjust the position of the corresponding target first vertex, and using the second position adjustment factor to adjust the position of the first associated vertex, to obtain the target fitting three-dimensional object model corresponding to the target three-dimensional object model includes: using the first position adjustment factor to adjust the position of the corresponding target first vertex, using the second position adjustment factor to adjust the position of the first associated vertex, and using the third position adjustment factor to adjust the position of the second associated vertex, to obtain the target fitting three-dimensional object model corresponding to the target three-dimensional object model.

[0008] In some embodiments, the target vertex constraint item also includes an angle constraint item corresponding to the target first vertex, and the angle constraint item is determined based on the cosine value of the angle between the target vector and the target normal vector. The end point of the target vector is the target second vertex, and the position of the starting point of the target vector is the position corresponding to the position adjustment item of the target first vertex. The target normal vector is calculated based on the plane normal vectors corresponding to each plane corresponding to the target first vertex.

[0009] In some embodiments, the method further includes: when the cosine value of the angle between the target vector and the target normal vector is a negative value, determining the angle constraint item as the result of a distance operation between the position of the target second vertex and the position corresponding to the position adjustment item.

[0010] In some embodiments, the step of obtaining the initial fitting three-dimensional object model includes: obtaining a standard three-dimensional object model and a standard three-dimensional joint point set corresponding to the standard three-dimensional object model; the standard three-dimensional joint point set includes multiple standard three-dimensional joint points; obtaining a target joint point constraint item, the target joint point constraint item includes the difference between a limb length adjustment item and a target limb length, and the limb length adjustment item is the difference result of a first joint point adjustment item and a second joint point adjustment item; the first joint point adjustment item is the result of an operation between a position of a first standard three-dimensional joint point and a morphological adjustment parameter, and the second joint point adjustment item is the result of an operation between a position of a second standard three-dimensional joint point and the morphological adjustment parameter; the first standard three-dimensional joint point and the second standard three-dimensional joint point correspond to a target limb type, and the target limb length is the position difference between a first target three-dimensional joint point corresponding to the target limb type and a corresponding second target three-dimensional joint point; determining that when the target joint point constraint item satisfies a minimization constraint condition, the value corresponding to the morphological adjustment parameter is obtained to obtain a target joint point adjustment factor; and using the target joint point adjustment factor to adjust the position of the joint points of the standard three-dimensional object model to obtain the initial fitting three-dimensional object model.

[0011] In some embodiments, the target joint point constraint item also includes a third joint point adjustment item corresponding to the first standard three-dimensional joint point, and the difference between the position of the first target three-dimensional joint point and the third joint point adjustment item, the third joint point adjustment item is the result of calculation of the posture adjustment parameter and the first joint point adjustment item; the first target three-dimensional joint point is consistent with the joint point type of the first standard three-dimensional joint point; when determining that the target joint point constraint item satisfies the minimization constraint condition, the value corresponding to the morphological adjustment parameter, and obtaining the target joint point adjustment factor include: when determining that the target joint point constraint item satisfies the minimization constraint condition, the value corresponding to the morphological adjustment parameter and the value corresponding to the posture adjustment parameter, and obtaining the target joint point adjustment factor.

[0012] A human body parameterized model automatic deformation device based on three-dimensional point cloud, the device comprising: an initial fitting three-dimensional object model acquisition module, used to acquire an initial fitting three-dimensional object model corresponding to a target three-dimensional object model, the initial fitting three-dimensional object model is obtained by fitting according to the three-dimensional joint points corresponding to the target three-dimensional object model; the initial fitting three-dimensional object model corresponds to a first vertex set, and the target three-dimensional object model corresponds to a second vertex set; a target first vertex acquisition module, used to acquire, from the first vertex set, a target first vertex having a position corresponding relationship with a target second vertex in the second vertex set; a target vertex constraint item acquisition module, used to acquire a target vertex constraint item, the target vertex constraint item The target vertex constraint item includes the difference between the position adjustment item corresponding to the target first vertex and the position of the target second vertex, wherein the position adjustment item is the result of the operation between the first position adjustment parameter corresponding to the target first vertex and the position of the target first vertex; a first position adjustment factor obtaining module is used to determine the value corresponding to the first position adjustment parameter when the target vertex constraint item satisfies the minimization constraint condition, and obtain the first position adjustment factor corresponding to the target first vertex; a target fitting three-dimensional object model obtaining module is used to use the first position adjustment factor to adjust the position of the corresponding target first vertex to obtain the target fitting three-dimensional object model corresponding to the target three-dimensional object model.

[0013] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned method for automatic deformation of a human body parameterized model based on three-dimensional point cloud when executing the computer program.

[0014] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for automatic deformation of a human body parameterized model based on three-dimensional point cloud.

[0015] The above-mentioned method, device, computer equipment and storage medium for automatic deformation of human body parameterized model based on three-dimensional point cloud obtain an initial fitting three-dimensional object model corresponding to the target three-dimensional object model, and the initial fitting three-dimensional object model is obtained by fitting according to the three-dimensional joint points corresponding to the target three-dimensional object model; the initial fitting three-dimensional object model corresponds to a first vertex set, and the target three-dimensional object model corresponds to a second vertex set, and a target first vertex having a position corresponding relationship with a target second vertex in the second vertex set is obtained from the first vertex set, and a target vertex constraint item is obtained, and when the target vertex constraint item satisfies the minimization constraint condition, a value corresponding to the first position adjustment parameter is determined, and a first position adjustment factor corresponding to the target first vertex is obtained, and the position of the corresponding target first vertex is adjusted using the first position adjustment factor to obtain a target fitting three-dimensional object model corresponding to the target three-dimensional object model. Object model, since the target vertex constraint item includes the position adjustment item corresponding to the first vertex of the target and the difference between the position of the second vertex of the target, the position adjustment item is the result of the operation between the first position adjustment parameter corresponding to the first vertex of the target and the position of the first vertex of the target, so that the position of the first vertex of the target can be adjusted according to the first position adjustment parameter, and since the first position adjustment factor is the value when the target vertex constraint item satisfies the minimization constraint condition, the difference between the position of the first vertex of the target and the position of the second vertex of the target after adjustment by the first position adjustment factor is minimized, that is, the difference in the position of the vertices of the target three-dimensional object model and the vertices of the target fitting three-dimensional corresponding model is minimized, thereby improving the similarity between the target fitting three-dimensional human body model and the scanned target three-dimensional human body model, thereby improving the accuracy of the target three-dimensional human body model. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A diagram of an application environment of a method for automatic deformation of a human body parameterized model based on three-dimensional point cloud in some embodiments;

[0017] Figure 2 is a schematic flow chart of a method for automatically deforming a human body parameterized model based on a three-dimensional point cloud in some embodiments;

[0018] Figure 3 is a schematic diagram of a target three-dimensional object model and a standard three-dimensional object model in some embodiments;

[0019] Figure 4 These are effect diagrams of shape adjustment and posture adjustment in some embodiments;

[0020] Figure 5 A schematic diagram of initially registering a three-dimensional object model and non-rigidly registering a three-dimensional object model in some embodiments;

[0021] Figure 6A schematic diagram of a three-dimensional object model after initial registration and a non-rigid registration three-dimensional object model in some embodiments;

[0022] Figure 7 A schematic flow chart of steps for obtaining an initial fitting three-dimensional object model in some embodiments;

[0023] Figure 8 is a structural block diagram of an automatic deformation device for a human body parameterized model based on three-dimensional point cloud in some embodiments;

[0024] Fig. 9 1 is a diagram of the internal structure of a computer device in some embodiments. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0026] The automatic deformation method of human body parameterized model based on three-dimensional point cloud provided in this application can be applied to Figure 1 In the application environment shown, the application environment includes a scanning device 102 and a terminal device 104. The scanning device 102 can communicate with the terminal device 104 via wired or wireless communication.

[0027] Specifically, the scanning device 102 may scan the object to obtain a scanned three-dimensional object model. The terminal device 104 may obtain the scanned three-dimensional object model from the scanning device 102, for example, the target three-dimensional object model obtained by scanning the target object may be obtained from the scanning device 102. The terminal device 104 may perform fitting according to the three-dimensional joint points corresponding to the target three-dimensional object model to obtain an initial fitting three-dimensional object model corresponding to the target three-dimensional object model. Among them, the initial fitting three-dimensional object model corresponds to a first vertex set, and the target three-dimensional object model corresponds to a second vertex set; the terminal device 104 can obtain a target first vertex that has a position correspondence with the target second vertex in the second vertex set from the first vertex set; the terminal device 104 can obtain the target vertex constraint item, the target vertex constraint item includes the position adjustment item corresponding to the target first vertex, and the difference between the position of the target second vertex, the position adjustment item is the result of the operation between the first position adjustment parameter corresponding to the target first vertex and the position of the target first vertex; the terminal device 104 can determine the value corresponding to the first position adjustment parameter when the target vertex constraint item satisfies the minimization constraint condition, and obtain the first position adjustment factor corresponding to the target first vertex; the terminal device 104 can use the first position adjustment factor to adjust the position of the corresponding target first vertex to obtain the target fitting three-dimensional object model corresponding to the target three-dimensional object model.

[0028] The scanning device 102 may be, but is not limited to, various devices capable of scanning a three-dimensional human body model, such as a laser scanner. The terminal device 104 may be, but is not limited to, various personal computers and notebook computers.

[0029] It is understood that the above application scenario is only an example and does not constitute a limitation on the method provided in the embodiment of the present application. The method provided in the embodiment of the present application can also be applied in other scenarios. For example, the method for automatic deformation of a human body parametric model based on a three-dimensional point cloud provided in the present application can be executed by a server device. The server device can be implemented by an independent server or a server cluster composed of multiple servers.

[0030] In some embodiments, Figure 2 As shown in the figure, a method for automatic deformation of human body parameterized model based on three-dimensional point cloud is provided. Figure 1 The terminal device 104 in the example is used as an example to illustrate, and the following steps are included:

[0031] S202, obtaining an initial fitting three-dimensional object model corresponding to the target three-dimensional object model, wherein the initial fitting three-dimensional object model is obtained by fitting the three-dimensional joint points corresponding to the target three-dimensional object model; the initial fitting three-dimensional object model corresponds to a first vertex set, and the target three-dimensional object model corresponds to a second vertex set.

[0032] Specifically, the object may include at least one of a person or an animal. The target three-dimensional object model may be a three-dimensional point cloud of a human body obtained by scanning a point cloud scanning device. The three-dimensional joint points corresponding to the target three-dimensional object model may be obtained according to the two-dimensional object image corresponding to the target three-dimensional object model, for example, they may be calculated according to the two-dimensional joint points of the two-dimensional object image. The initial fitting three-dimensional object model may be a model obtained by adjusting the posture and form of the standard three-dimensional object model according to the three-dimensional joint points corresponding to the target three-dimensional object model. The elements constituting the three-dimensional object model may include vertices, joint points, and facets. The first vertex set may include multiple first vertices, and the second vertex set may include multiple second vertices. The number of first vertices in the first vertex set and the number of second vertices in the second vertex set may be the same or different. Each vertex in the vertex set (for example, the first vertex set and the second vertex set) may have a connection relationship with multiple other vertices, for example, one vertex may have a connection relationship with 6 other vertices. A facet is a triangular plane formed by connecting vertices, and a facet includes 3 vertices and 3 edges formed by connecting 3 vertices. A vertex may belong to multiple triangular planes at the same time.

[0033] A standard 3D object model refers to a parametric model with clear vertices and joints, and the positions of the vertices and joints can be adjusted. It can be a custom 3D object model or an existing 3D object model, such as a makehuman parametric model. A standard 3D object model can also be called a standard parametric model and a standard 3D human body model. A standard parametric model can be, for example, a makehuman parametric model. Figure 3 As shown, Figure 3 The two human models in (a) are schematic diagrams of the target three-dimensional object models. Figure 3 The two human body models in (b) are schematic diagrams of standard three-dimensional object models.

[0034] By adjusting the shape of the standard 3D object model through the 3D joints of the target 3D object model, the limb length and torso length of the standard 3D object model after shape adjustment can be made consistent with those of the target 3D object model. By adjusting the posture of the standard 3D object model or the standard 3D object model after shape adjustment through the 3D joints of the target 3D object model, the posture of the standard 3D object model after posture adjustment can be made consistent with that of the target 3D object model, for example, the angles of the arms being opened are consistent. Figure 4 As shown, Figure 4 (a) is the effect diagram of morphological adjustment. Figure 4 (b) is the effect diagram of posture adjustment.

[0035] In order to obtain a body shape consistent with the target three-dimensional object model, the positions of the vertices of the initial simulated three-dimensional object model can be adjusted using the vertices of the target three-dimensional object model to obtain a three-dimensional object model with adjusted vertices. Body shape consistency includes at least one of fat and thin consistency or height consistency. The process of posture adjustment and morphology adjustment can be called initial matching, so the initial simulated three-dimensional object model can be called an initial matching three-dimensional object model, and the process of vertex adjustment can be called non-rigid registration, so the three-dimensional object model with adjusted vertices can be called a non-rigid registration three-dimensional object model. Figure 5 As shown, Figure 5 (a) is a schematic diagram of the initial three-dimensional object model. Figure 5 (b) is a schematic diagram of a non-rigid registration 3D object model. Figure 6 As shown, Figure 6 The left image in (a) corresponds to the target 3D object model. Figure 6 The left image in (a) corresponds to the standard three-dimensional object model. Figure 6 (b) corresponds to the initial three-dimensional object model, Figure 6 (c) Corresponding non-rigid registration 3D object model.

[0036] In some embodiments, the differences in human body models are mainly reflected in two aspects: form and posture. The posture and form of the standard three-dimensional object model can be adjusted by formula (1).

[0037] M(β,θ)=W(T(β),J(β),θ,w) (1)

[0038] in,

[0039]

[0040]

[0041] Among them, β is the morphological parameter (also called morphological adjustment parameter), θ is the attitude parameter (also called attitude adjustment parameter), is the standard three-dimensional object model (also called the standard three-dimensional human body model), T(β) is the morphological model under the standard posture, and T(β) is It is obtained by applying several offsets B(β) on the basis of . Different morphological parameters β constitute different offsets, reflecting different morphological models. M(β, θ) is obtained by a posture of the model T(β) in a given standard posture, which is controlled by the posture parameter θ. M(β, θ) can be understood as the human body model rotating around each joint point J(β) by an angle θ. J(β) is the joint position in the standard posture, which is affected by the morphological parameter β. The length of different parts of the human body can be controlled by the morphological adjustment parameters, such as controlling the arm length and leg length.

[0042] Usually, after a parameterized model is determined, the corresponding Morphological Base S n , the bone weights w (such as LBS bone weights) are known. Therefore, to determine a human body model, the fitted parameterized model can be obtained by estimating the parameters β and θ.

[0043] In some embodiments, the fitting process can be divided into two steps: constructing an error equation and minimizing the error equation. The terminal device can construct the error equation according to the fitting target, and the fitting target can be, for example, a point cloud of a human body model. For example, the error equation can be expressed as formula (5).

[0044] E(β,θ)=∑||M(β,θ) i -V corr(i) || 2 +E reg (5)

[0045] Among them, M(β,θ) i represents a point on the model M(β,θ), V corr(i)Represents the human body point cloud model and M(β,θ) i Corresponding points, coor(i) represents the corresponding relationship of dynamic changes, E reg represents the regularization term. The minimization error equation can be expressed as formula (6)

[0046]

[0047] S204: Acquire, from the first vertex set, a target first vertex that has a position corresponding relationship with a target second vertex in the second vertex set.

[0048] Specifically, the target second vertex is a second vertex in the second vertex set, where there is a first vertex with a position correspondence relationship. The target first vertex refers to the first vertex in the first vertex set that has a position correspondence relationship with the target second vertex. The target second vertex and the target first vertex can have at least one correspondence relationship of one-to-one, many-to-many, one-to-many or many-to-one. The position correspondence relationship refers to a correspondence relationship in position. The first vertex and the second vertex whose position difference is less than the position difference threshold can be determined as having a position correspondence relationship, and the first vertex and the second vertex whose position difference is within a preset difference range can also be determined as having a position correspondence relationship. Of course, the first vertex and the second vertex with a position correspondence relationship can also be determined in other ways. The preset difference range and the position difference threshold can be set as needed, or they can be pre-set.

[0049] In some embodiments, the terminal device may determine, from the first vertex set, first vertices corresponding to respective second vertices in the second vertex set by using an associated vertex determination tool. It should be noted that the second vertices in the second vertex set may or may not have first vertices with positional correspondence. The associated vertex determination tool may be, for example, PCL (Point Cloud Library).

[0050] S206, obtaining target vertex constraint items, the target vertex constraint items include a position adjustment item corresponding to the target first vertex and a difference between the position of the target second vertex, the position adjustment item being a result of an operation between a first position adjustment parameter corresponding to the target first vertex and the position of the target first vertex.

[0051] Specifically, the position adjustment parameter refers to a parameter for adjusting the position of the first vertex of the initial fitting three-dimensional object model. The position adjustment parameter can be one-dimensional or multi-dimensional, for example, it can be a 4×4 matrix. Each first vertex in the first vertex set can correspond to a position adjustment parameter, and the position adjustment parameters corresponding to different first vertices can be the same or different. The first position adjustment parameter is the position adjustment parameter corresponding to the target first vertex.

[0052] Each first vertex in the first vertex set may correspond to a position adjustment item. The position adjustment item may be a result obtained by calculating the first position adjustment parameter and the position of the target first vertex according to a preset calculation method, and the preset calculation method may include at least one of a multiplication operation or an addition operation. The position corresponding to the position adjustment item is the position after the position of the target first vertex is adjusted by the first position adjustment parameter.

[0053] The difference between the position adjustment item and the position of the target second vertex is recorded as the first difference, and each target first vertex may correspond to a first difference. The result of the first difference changes with the change of the first position adjustment parameter. The value of the first position adjustment parameter is different, and the result of the first difference may be different. The target vertex constraint item may include the first differences corresponding to multiple target first vertices. In the target vertex constraint item, each first difference may be in a multiplication relationship or an addition relationship. For example, the target vertex constraint item may include the statistical results of each first difference. The target vertex constraint item and the first difference may be positively correlated, that is, the larger the value of the first difference is, the larger the value of the target vertex constraint item is, and the smaller the value of the first difference is, the smaller the value of the target vertex constraint item is. The target vertex constraint item changes with the change of the first difference at any time, for example, it increases with the increase of the first difference and decreases with the decrease of the first difference.

[0054] For example, the target vertex constraint term may include the statistical value E of the difference term in formula (7) data , where T i Denotes M(β,θ) i The corresponding first position adjustment parameter, M(β,θ) i Corresponding to the first vertex of the target. V corr(i) Corresponding to the position of the second vertex of the target. ||T i M(β,θ) i -V corr(i) || 2 Indicates the difference term.

[0055] E data =∑||T i M(β,θ) i -V corr(i) || 2(7)

[0056] S208, when it is determined that the target vertex constraint item satisfies the minimization constraint condition, the value corresponding to the first position adjustment parameter is used to obtain a first position adjustment factor corresponding to the target first vertex.

[0057] Specifically, the minimization constraint condition may include at least one of a minimum value in a value range, a value less than a preset value, or a value equal to a fixed value. The preset value can be set as needed, for example, to 0.2, and the fixed value can be set as needed, for example, to 0.1. The first position adjustment factor is the value corresponding to the first position adjustment parameter when the result of the target vertex constraint item satisfies the minimization constraint condition.

[0058] Since the result of the first difference changes with the change of the first position adjustment parameter, the first difference is positively correlated with the target vertex constraint item, therefore, the target vertex constraint item changes with the change of the first position adjustment parameter, and the target vertex constraint item and the first difference have the same change trend with the change of the first position adjustment parameter. For example, when the change of the first position adjustment parameter increases the target vertex constraint item, it can be determined that the change of the first position adjustment parameter increases the first difference, and when the change of the first position adjustment parameter decreases the target vertex constraint item, it can be determined that the change of the first position adjustment parameter decreases the first difference. Therefore, when the target vertex constraint item satisfies the minimization constraint condition, the first difference is also minimized, or the statistical results of each first difference are minimized.

[0059] S210: Using the first position adjustment factor, adjust the position of the corresponding target first vertex to obtain a target fitting three-dimensional object model corresponding to the target three-dimensional object model.

[0060] Specifically, the target fitting three-dimensional object model can be obtained by adjusting the position of the corresponding target first vertex using each first position adjustment factor. Of course, the target fitting three-dimensional object model can also be obtained by adjusting the position of each first vertex in the first vertex set that is different from the target first vertex. For example, the first vertex set is {d1, d2, d3, d4, d5, d6, d7..., dN}, where N is a positive integer. In addition, d1, d2, d3, and d7 are the target first vertices, and d5 and d6 are not the target first vertices. The target fitting three-dimensional object model can be obtained by adjusting the positions of d1, d2, d3, and d6 in the initial fitting three-dimensional object model. The smaller the first difference is, the smaller the difference between the position adjustment item of the target first vertex and the position of the target second vertex is. Therefore, when the first difference (i.e., the target vertex constraint item) is minimized, the value of the first position adjustment parameter and the position corresponding to the target first vertex can be calculated (the calculation method is the same as that for obtaining the position adjustment item) to obtain the new position of the target first vertex. The position of the target first vertex is adjusted to the new position to obtain the target fitting three-dimensional object model. Since the position difference between the target first vertex and the target second vertex is minimized, the similarity between the target fitting three-dimensional object model and the target three-dimensional object model is improved.

[0061] In some embodiments, the terminal device can calculate the size of the target fitting 3D object model, and estimate the size of the real object corresponding to the target 3D object model according to the size of the target fitting 3D object model, so as to automatically complete the measurement of the object size, and can automatically measure the human body size, thereby improving the efficiency and accuracy of human body size measurement. The terminal device can also control the position of the joint points of the target fitting 3D object model so that the target fitting 3D object model moves according to the movement of the real human body.

[0062] In the above-mentioned automatic deformation method of human body parameterized model based on three-dimensional point cloud, an initial fitting three-dimensional object model corresponding to the target three-dimensional object model is obtained, and the initial fitting three-dimensional object model is obtained by fitting according to the three-dimensional joint points corresponding to the target three-dimensional object model; the initial fitting three-dimensional object model corresponds to a first vertex set, and the target three-dimensional object model corresponds to a second vertex set. From the first vertex set, a target first vertex having a position corresponding relationship with a target second vertex in the second vertex set is obtained, and a target vertex constraint item is obtained. When the target vertex constraint item satisfies the minimization constraint condition, a value corresponding to the first position adjustment parameter is determined, and a first position adjustment factor corresponding to the target first vertex is obtained. The position of the corresponding target first vertex is adjusted using the first position adjustment factor to obtain the target fitting three-dimensional object model corresponding to the target three-dimensional object model. The target vertex constraint item includes a position adjustment item corresponding to the first vertex of the target and the difference between the position of the second vertex of the target. The position adjustment item is the result of the operation between the first position adjustment parameter corresponding to the first vertex of the target and the position of the first vertex of the target. Therefore, the position of the first vertex of the target can be adjusted according to the first position adjustment parameter. Since the first position adjustment factor is the value when the target vertex constraint item satisfies the minimization constraint condition, the difference between the position of the first vertex of the target and the position of the second vertex of the target after adjustment by the first position adjustment factor is minimized, that is, the difference in the position of the vertices of the target three-dimensional object model and the vertices of the target fitting three-dimensional corresponding model is minimized, thereby improving the similarity between the target fitting three-dimensional human body model and the scanned target three-dimensional human body model, thereby improving the accuracy of the target three-dimensional human body model.

[0063] In some embodiments, the target vertex constraint item also includes a difference item consisting of a first position adjustment parameter and a second position adjustment parameter, the second position adjustment parameter is a position adjustment parameter corresponding to the first associated vertex, and the first associated vertex is a first vertex having a connection relationship with the target first vertex; the method also includes: determining that when the target vertex constraint item satisfies the minimization constraint condition, the value corresponding to the second position adjustment parameter is obtained, and the second position adjustment factor corresponding to the first associated vertex is obtained; step S210 uses the first position adjustment factor to adjust the position of the corresponding target first vertex to obtain a target fitting three-dimensional object model corresponding to the target three-dimensional object model, including: using the first position adjustment factor to adjust the position of the corresponding target first vertex, and using the second position adjustment factor to adjust the position of the first associated vertex to obtain a target fitting three-dimensional object model corresponding to the target three-dimensional object model.

[0064] Specifically, the first associated vertex may be a target first vertex in the first vertex set, or may be a first vertex other than the target first vertex in the first vertex set. The difference term formed by the first position adjustment parameter and the second position adjustment parameter may be a result of subtracting the first position adjustment parameter from the second position adjustment parameter, or may be a result of calculating the result of subtracting the first position adjustment parameter from the second position adjustment parameter according to a preset calculation method. The preset calculation method may include at least one of a norm operation or a norm operation followed by a square operation. Of course, other methods of calculating the difference may also be used, which are not limited here. Each target first vertex may correspond to multiple first associated vertices, and different first associated vertices may correspond to different second position adjustment parameters. Therefore, one first position adjustment parameter may have multiple difference terms, and the target vertex constraint term may include difference terms corresponding to multiple first position adjustment parameters respectively. In the target vertex constraint term, the relationship between the difference terms may be a multiplication relationship or an addition relationship. The target vertex constraint term may include statistical values ​​of the difference terms corresponding to the first position adjustment parameters respectively. There is a positive correlation between the target vertex constraint item and the difference item or the statistical result of the difference item. For example, when the difference item increases, the target vertex constraint item increases, and when the difference item decreases, the target vertex constraint item decreases.

[0065] In some embodiments, the terminal device may use the numerical value corresponding to the second position adjustment parameter when the target vertex constraint item satisfies the minimization constraint condition as the second position adjustment factor. The terminal device may adjust the value of the first position adjustment parameter and the value of the second position adjustment parameter at the same time to determine the numerical value corresponding to the first position adjustment parameter and the numerical value corresponding to the second position adjustment parameter when the target vertex constraint item satisfies the minimization constraint condition. Since there is a positive correlation between the target vertex constraint item and the difference item or the statistical result of the difference item, the numerical value corresponding to the second position adjustment parameter when the target vertex constraint item satisfies the minimization constraint condition is used as the second position adjustment factor, which can increase the difference between the second position adjustment factor and the first position adjustment factor.

[0066] In the above embodiment, the position of the corresponding target first vertex is adjusted using the first position adjustment factor, and the position of the first associated vertex is adjusted using the second position adjustment factor, so as to obtain the target fitting 3D object model corresponding to the target 3D object model, thereby minimizing the difference between the position adjustment factors corresponding to the first vertices with a connection relationship, making the position adjustment method of the first vertices with a connection relationship consistent, thereby avoiding the phenomenon of burrs in the adjusted model. Thus, the similarity between the target fitting 3D object model and the target 3D object model is improved, and the accuracy of the target fitting 3D object model is improved.

[0067] In some embodiments, the target vertex constraint item also includes a difference item consisting of a second position adjustment parameter and a third position adjustment parameter, the third position adjustment parameter being a position adjustment parameter corresponding to the second associated vertex, and the second associated vertex being a first vertex having a connection relationship with the first associated vertex; the method also includes: determining a value corresponding to the third position adjustment parameter when the target vertex constraint item satisfies the minimization constraint condition, and obtaining a third position adjustment factor corresponding to the second associated vertex; adjusting the position of the corresponding target first vertex using the first position adjustment factor, and adjusting the position of the first associated vertex using the second position adjustment factor, and obtaining a target fitting three-dimensional object model corresponding to the target three-dimensional object model includes: adjusting the position of the corresponding target first vertex using the first position adjustment factor, adjusting the position of the first associated vertex using the second position adjustment factor, and adjusting the position of the second associated vertex using the third position adjustment factor, and obtaining a target fitting three-dimensional object model corresponding to the target three-dimensional object model.

[0068] Specifically, the second associated vertex may be the target first vertex, or may be a first vertex having a connection relationship with the target first vertex, or may be a first vertex having no connection relationship with the target first vertex. The first associated vertex may correspond to multiple second associated vertices.

[0069] In some embodiments, the target vertex constraint term also includes a difference term consisting of position adjustment parameters corresponding to any two first vertices having a connection relationship. For example, the target vertex constraint term may include E in formula (8): smooth Among them, T j and T i represents the position adjustment parameters corresponding to two adjacent vertices. Two adjacent vertices refer to two vertices with a connection relationship. Formula (8) can be called a local smoothness constraint.

[0070] E smooth =∑ i,j∈obj{e} ||T i -T j || 2 (8)

[0071] In the above embodiment, there may be noise in the human body point cloud, that is, there are noise vertices in the second vertex set corresponding to the target three-dimensional object model. The position of the corresponding target first vertex is adjusted using the first position adjustment factor, the position of the first associated vertex is adjusted using the second position adjustment factor, and the position of the second associated vertex is adjusted using the third position adjustment factor to obtain a target fitting three-dimensional object model corresponding to the target three-dimensional object model. The positions of as many first vertices as possible can be adjusted, and the relative positions of adjacent vertices can be kept as unchanged as possible, maintaining local geometric information, thereby avoiding the influence of the noise vertices in the second vertex set, improving the similarity between the target fitting three-dimensional object model and the target three-dimensional object model, and improving the accuracy of the target fitting three-dimensional object model.

[0072] In some embodiments, the target vertex constraint item also includes an angle constraint item corresponding to the target first vertex. The angle constraint item is determined based on the cosine value of the angle between the target vector and the target normal vector. The end point of the target vector is the target second vertex. The position of the starting point of the target vector is the position corresponding to the position adjustment item of the target first vertex. The target normal vector is calculated based on the plane normal vectors corresponding to each plane corresponding to the target first vertex.

[0073] Specifically, the target normal vector can be a comprehensive normal vector obtained by adding the vectors of the plane normal vectors corresponding to the multiple planes corresponding to the first vertex of the target. For example, the target normal vector can be a comprehensive normal vector, or a unit vector corresponding to the comprehensive normal vector. Since the end point of the target vector is the second vertex of the target, and the position of the starting point of the target vector is the position corresponding to the position adjustment item of the first vertex of the target, the vector angle between the target vector and the target normal vector can reflect the relative relationship between the position of the second vertex of the target and the position corresponding to the position adjustment item. When the vector angle is greater than 90 degrees, it means that the position corresponding to the position adjustment item is outside the position of the second vertex of the target, that is, it means that the position corresponding to the position adjustment item is outside the target three-dimensional object model. When the vector angle is less than 90 degrees, it means that the position corresponding to the position adjustment item is inside the target three-dimensional object model. Distance operation refers to the operation of calculating the distance between positions, for example, it can be a Euclidean algorithm.

[0074] In some embodiments, the result of the angle constraint term is positively correlated with the result of the target vertex constraint term. The angle constraint term is determined based on the cosine value of the angle between the target vector and the target normal vector. When the cosine value of the angle between the target vector and the target normal vector is negative, that is, when the vector angle is greater than 90 degrees, the angle constraint term is determined to be the result of a distance operation between the position of the second vertex of the target and the position corresponding to the position adjustment term.

[0075] In some embodiments, when the cosine value of the angle between the target vector and the target normal vector is a positive value, that is, when the vector angle is less than 90 degrees, the angle constraint term is determined to be a constant 0.

[0076] In some embodiments, when the target three-dimensional object model is obtained by scanning a human body wearing loose clothing, the target three-dimensional object model may be outside the target fitting three-dimensional object model, which may cause deeper folds to penetrate into the interior of the target fitting three-dimensional object model.

[0077] In some embodiments, the target vertex constraint term may further include angle constraint terms corresponding to a plurality of target first vertices, for example, the target vertex constraint term may further include E in formula (9): cloth Among them, the length term expression is For example, formula (9) can also be called clothing term constraint.

[0078]

[0079] in,

[0080] In the above embodiment, when the cosine value of the angle between the target vector and the target normal vector is negative, the angle constraint item is determined to be the result of a distance operation between the position of the second vertex of the target and the position corresponding to the position adjustment item. Since the result of the angle constraint item is positively correlated with the result of the target vertex constraint item, when the target vertex constraint item satisfies the minimization constraint condition, the numerical value corresponding to the first position adjustment parameter is used as the first position adjustment factor, which can minimize the difference between the position of the second vertex of the target and the position corresponding to the position adjustment item, thereby avoiding deeper folds from penetrating into the interior of the target fitting three-dimensional object model.

[0081] In some embodiments, the target vertex constraint term may include a statistical term corresponding to the difference term and a statistical term corresponding to the angle constraint term. For example, the target vertex constraint term may be E in formula (11): data +E smooth +E cloth The terminal device can use formula (11) to calculate the corresponding position adjustment parameters when the target vertex constraint item satisfies the minimization constraint, and T corresponds to each position adjustment parameter.

[0082]

[0083] In some embodiments, Figure 7 As shown, the steps of obtaining the initial fitting three-dimensional object model include:

[0084] S702, obtaining a standard three-dimensional object model and a standard three-dimensional joint point set corresponding to the standard three-dimensional object model, wherein the standard three-dimensional joint point set includes a plurality of standard three-dimensional joint points.

[0085] Specifically, the standard three-dimensional joint point set may include a plurality of standard three-dimensional joint points, and the standard three-dimensional joint points refer to the joint points of the standard three-dimensional object model. The number of standard three-dimensional joint points may be consistent with the number of target three-dimensional joint points, for example, both are 16 joint points, and the type of standard three-dimensional joint points may be consistent with the type of target three-dimensional joint points, for example, both are head joint points, neck joint points, left hand joint points, left elbow joint points and left shoulder joint points. The positions of each standard three-dimensional joint point in the standard three-dimensional joint point set are known.

[0086] S704, obtaining target joint point constraint items, the target joint point constraint items include the difference between the limb length adjustment item and the target limb length, the limb length adjustment item is the difference result between the first joint point adjustment item and the second joint point adjustment item; the first joint point adjustment item is the result of the operation between the position of the first standard three-dimensional joint point and the morphological adjustment parameter, the second joint point adjustment item is the result of the operation between the position of the second standard three-dimensional joint point and the morphological adjustment parameter; the first standard three-dimensional joint point and the second standard three-dimensional joint point correspond to the target limb type, and the target limb length is the position difference between the first target three-dimensional joint point corresponding to the target limb type and the corresponding second target three-dimensional joint point.

[0087] Specifically, the morphology adjustment parameter refers to a parameter for adjusting the morphology of a standard three-dimensional object model. The morphology adjustment parameter can adjust the position of one or more standard three-dimensional joint points, thereby adjusting the morphology. For example, the positional relationship between the joint points corresponding to the same limb can be adjusted, and the positional relationship between the joint points corresponding to different limbs can also be adjusted. The morphology adjustment parameter can be an independent parameter, or it can be a sub-parameter including multiple different functions, and each sub-parameter can be a sub-parameter for adjusting the distance between different joint points and the same joint point. For example, it can include a sub-parameter for adjusting the distance between a standard three-dimensional joint point A and a standard three-dimensional joint point B, and it can also include a sub-parameter for adjusting the distance between a standard three-dimensional joint point A and a standard three-dimensional joint point C. The length of different parts of the human body can be controlled by the morphology adjustment parameter, such as controlling the length of the arm and the length of the leg.

[0088] Limb types may include left forearm, right forearm, left upper arm, right upper arm, left calf, right calf, left thigh and right thigh, etc. The target limb type may be any limb type, for example, it may be left forearm. There may be multiple target limb types. The first standard three-dimensional joint point and the second standard three-dimensional joint point are joint points corresponding to the target limb type in the standard three-dimensional joint point set. The first target three-dimensional joint point and the second target three-dimensional joint point are joint points corresponding to the target limb type on the target three-dimensional object model.

[0089] The position difference between the first target three-dimensional joint point and the second target three-dimensional joint point (i.e., the target limb length) can be the distance between the first target three-dimensional joint point and the second target three-dimensional joint point, or the square of the distance between the first target three-dimensional joint point and the second target three-dimensional joint point. The first joint point adjustment item can be obtained by performing at least one of linear or nonlinear operations between the position of the first standard three-dimensional joint point and the morphological adjustment parameter, and the linear operation can be, for example, an addition operation and a multiplication operation. The second joint point adjustment item can be obtained by performing at least one of linear or nonlinear operations between the position of the second standard three-dimensional joint point and the morphological adjustment parameter. Each standard three-dimensional joint point can correspond to a relevant node adjustment item respectively, and the joint point adjustment item corresponding to the standard three-dimensional joint point is the result of the operation between the position of the standard three-dimensional joint point and the morphological adjustment parameter. Each standard three-dimensional joint point corresponds to the same morphological adjustment parameter.

[0090] The difference between the first joint point adjustment item and the second joint point adjustment item (i.e., the limb length adjustment item) may be a result obtained by performing at least one of an absolute value or a square (e.g., a norm square) on the result obtained by subtracting the first joint point adjustment item from the second joint point adjustment item. The difference between the limb length adjustment item and the target limb length may be a result obtained by performing at least one of an absolute value or a square (e.g., a norm square) on the result obtained by subtracting the limb length adjustment item from the target limb length. The difference between the limb length adjustment item and the target limb length (referred to as the limb length difference) is positively correlated with the target joint point constraint item.

[0091] In some embodiments, different target limb types may correspond to limb length adjustment items and target limb lengths, respectively. The terminal device may calculate the difference between the limb length adjustment items corresponding to different target limb types and the corresponding target limb lengths, obtain the limb length differences corresponding to each target limb type, and obtain the target joint point constraint items according to the limb length differences corresponding to each target limb type. The terminal device may obtain the target joint point constraint items according to the statistical results of the limb length differences corresponding to each target limb type.

[0092] In some embodiments, the terminal device may determine the morphology adjustment factor by calculating the minimization result corresponding to the statistical value of the limb length difference corresponding to each target limb type. For example, the terminal device may determine the morphology adjustment factor using the formula in formula (12). Where, ||J(β) i -J(β) j || 2 represents the limb length adjustment term, represents the target limb length, Indicates limb length difference, Represents the statistical value of the difference in limb length. Among them, i and j represent two different joints belonging to the same limb. J(β) i and J(β) j Corresponding to the joint points in the standard 3D object model, and Refers to the joint points in the target 3D object model. Formula (12) can also be called the energy equation.

[0093]

[0094] S706, when it is determined that the target joint point constraint item satisfies the minimization constraint condition, the value corresponding to the morphological adjustment parameter is obtained to obtain the target joint point adjustment factor.

[0095] Specifically, the minimization constraint condition may include at least one of a value less than a preset value or a value equal to a fixed value. The preset value may be set as needed, for example, to 0.2, and the fixed value may be set as needed, for example, to 0.1. When the value corresponding to the morphological adjustment parameter changes, the value corresponding to the target joint point constraint item changes accordingly. The terminal device may determine that when the target joint point constraint item satisfies the minimization constraint condition, the value corresponding to the morphological adjustment parameter is used as the morphological adjustment factor. The target joint point adjustment factor may be obtained based on the morphological adjustment factor, for example, the target joint point adjustment factor may be a morphological adjustment factor, or the target joint point adjustment factor may be obtained based on the morphological adjustment factor and other adjustment factors, and other adjustment factors may be, for example, posture adjustment factors.

[0096] In some embodiments, the terminal device can set the morphology adjustment parameter in the target joint point constraint item to a specific value for calculation to obtain a calculation result. When the calculation result satisfies the minimization constraint condition, the corresponding specific value is used as the morphology adjustment factor, and the target joint point adjustment factor is obtained based on the morphology adjustment factor.

[0097] S708, adjusting the positions of the joint points of the standard three-dimensional object model using the target joint point adjustment factor to obtain an initial fitting three-dimensional object model.

[0098] Specifically, the terminal device can adjust the position of the joint point of the standard three-dimensional object model according to at least one of the morphology adjustment factor and the posture adjustment factor to obtain an initial fitting three-dimensional object model. The morphology adjustment factor can be used for adjustment first, and then the posture adjustment factor can be used for adjustment, or the posture adjustment factor can be used for adjustment first, and then the morphology adjustment factor can be used for adjustment, or the morphology adjustment factor and the posture adjustment factor can be used for adjustment at the same time.

[0099] In some embodiments, the terminal device can set the morphological adjustment parameters in the joint point adjustment items corresponding to each standard three-dimensional joint point as the morphological adjustment factor, obtain the joint point adjustment values ​​corresponding to each standard three-dimensional joint point, use the positions corresponding to the joint point adjustment values ​​as the updated positions of the standard three-dimensional joint points, and adjust each standard three-dimensional joint point in the standard three-dimensional object model to the corresponding updated positions to obtain the initial fitting three-dimensional object model. Since the limb length difference is positively correlated with the target joint point constraint item, the smaller the result of the target joint point constraint item, the smaller the limb length difference, that is, the smaller the difference between the limb length adjustment item and the target limb length, the smaller the difference between the limb length corresponding to the limb length adjustment item and the limb length corresponding to the target limb length. Therefore, adjusting each standard three-dimensional joint point in the standard three-dimensional object model to the corresponding updated position can make the limb length of the adjusted standard three-dimensional object model consistent with the limb length of the target three-dimensional object model, so that the posture of the initial fitting three-dimensional object model is consistent with that of the target three-dimensional object model.

[0100] In the above embodiment, the target joint point adjustment factor is used to adjust the position of the joint points of the standard three-dimensional object model to obtain an initial fitting three-dimensional object model, so that the posture of the initial fitting three-dimensional object model is consistent with that of the target three-dimensional object model, thereby improving the accuracy of the initial fitting three-dimensional object model.

[0101] In some embodiments, the target joint point constraint item also includes a third joint point adjustment item corresponding to the first standard three-dimensional joint point, and the difference between the position of the first target three-dimensional joint point, the third joint point adjustment item is the result of calculation of the posture adjustment parameter and the first joint point adjustment item; the joint point type of the first target three-dimensional joint point is consistent with that of the first standard three-dimensional joint point.

[0102] Specifically, the posture adjustment parameter refers to a parameter for adjusting the posture of the standard three-dimensional object model. The posture adjustment parameter can adjust the position of one or more standard three-dimensional joint points, thereby adjusting the posture. The third joint point adjustment item can be the result of performing at least one of linear operations or nonlinear operations on the posture adjustment parameter and the first joint point adjustment item, for example, it can be the result after multiplying the posture adjustment parameter by the first joint point adjustment item. The consistency of the joint point type of the first target three-dimensional joint point and the first standard three-dimensional joint point means that the two are the same type of joint points, for example, the first target three-dimensional joint point and the first standard three-dimensional joint point are both left-hand joint points. The difference between the position of the third joint point adjustment item and the first target three-dimensional joint point can be the result of calculating at least one of the absolute value, square or norm of the result after subtracting the position of the third joint point adjustment item from the first target three-dimensional joint point.

[0103] In some embodiments, the terminal device can calculate the difference between the third joint point adjustment item corresponding to the first standard three-dimensional joint point corresponding to the target joint point type and the position of the first target three-dimensional joint point (recorded as the joint point position difference), and obtain the joint point position difference corresponding to the target joint point type. According to the statistical results of the joint point position differences corresponding to each target joint point type, the target joint point constraint item is obtained, that is, the target joint point constraint item can include the statistical results of the joint point position differences corresponding to different joint point types. There is a positive correlation between the target joint point constraint item and the joint point position difference. Among them, the target joint point type can be determined as needed, or it can be any joint point type. For example, the terminal device can determine the numerical value corresponding to the morphological adjustment parameter and the numerical value corresponding to the posture adjustment parameter according to formula (13), and obtain the target joint point adjustment factor. Among them, R (θ) is the rotation and translation matrix corresponding to the posture adjustment factor.

[0104]

[0105] In some embodiments, the terminal device can obtain the target joint point constraint items based on the statistical results of the joint point position differences corresponding to each target joint point type, and the statistical results of the limb length differences corresponding to each target limb type.

[0106] In some embodiments, step S706 determines that when the target joint point constraint item satisfies the minimization constraint condition, the numerical value corresponding to the morphology adjustment parameter, and obtains the target joint point adjustment factor, including: when determining that the target joint point constraint item satisfies the minimization constraint condition, the numerical value corresponding to the morphology adjustment parameter and the numerical value corresponding to the posture adjustment parameter, to obtain the target joint point adjustment factor.

[0107] Specifically, the terminal device can determine that when the target joint constraint item satisfies the minimization constraint condition, the value corresponding to the morphology adjustment parameter is recorded as the morphology adjustment factor, and the value corresponding to the posture adjustment parameter is recorded as the posture adjustment factor, and the morphology adjustment factor and the posture adjustment factor are used as the target joint adjustment factor. Since the target joint constraint item is positively correlated with the joint position difference, when it is determined that the target joint constraint item satisfies the minimization constraint condition, the value corresponding to the morphology adjustment parameter and the value corresponding to the posture adjustment parameter can obtain the target joint adjustment factor that satisfies the joint position difference and the limb length difference as a whole, so that the morphology adjustment factor that makes the limb length of the initial fitting three-dimensional object model the same as the limb length of the target three-dimensional object model can be obtained, and the posture adjustment factor that makes the positions of the same type of joints between the initial fitting three-dimensional object model and the target three-dimensional object model as consistent as possible can be obtained, that is, the target joint adjustment factor that can make the posture and morphology of the initial fitting three-dimensional object model consistent with the target three-dimensional object model can be obtained.

[0108] In some embodiments, the terminal device can perform morphological adjustment on the standard three-dimensional object model according to the obtained morphological adjustment factor, and then perform posture adjustment on the three-dimensional object model after the morphological adjustment by the posture adjustment factor, to obtain the three-dimensional object model after the target joint point adjustment factor is adjusted (referred to as the initial fitting three-dimensional object model), and obtain the initial fitting three-dimensional object model corresponding to the target three-dimensional object model according to the initial fitting three-dimensional object model. Specifically, the terminal device can set the posture adjustment parameter in the third joint point adjustment item to the posture adjustment factor, set the morphological adjustment parameter therein to the morphological adjustment factor, obtain the result corresponding to the third joint point adjustment item, adjust the corresponding joint point in the standard three-dimensional object model to the position represented by the result corresponding to the third joint point adjustment item, and obtain the initial fitting three-dimensional object model.

[0109] In the above embodiment, when it is determined that the target joint point constraint item satisfies the minimization constraint condition, the numerical value corresponding to the morphology adjustment parameter and the numerical value corresponding to the posture adjustment parameter can obtain the target joint point adjustment factor that minimizes both the joint point position difference and the limb length difference as a whole, that is, the target joint point adjustment factor that makes the initial fitting three-dimensional object model and the target three-dimensional object model maintain consistent posture and morphology can be obtained.

[0110] It should be understood that, although the steps in the flowcharts of the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts of the above-mentioned embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0111] In some embodiments, Figure 8 As shown, a human body parameterized model automatic deformation device based on three-dimensional point cloud is provided, comprising: an initial fitting three-dimensional object model acquisition module 802, a target first vertex acquisition module 804, a target vertex constraint item acquisition module 806, a first position adjustment factor acquisition module 808 and a target fitting three-dimensional object model acquisition module 810, wherein:

[0112] The initial fitting three-dimensional object model acquisition module 802 is used to obtain the initial fitting three-dimensional object model corresponding to the target three-dimensional object model. The initial fitting three-dimensional object model is obtained by fitting the three-dimensional joint points corresponding to the target three-dimensional object model; the initial fitting three-dimensional object model corresponds to a first vertex set, and the target three-dimensional object model corresponds to a second vertex set.

[0113] The target first vertex acquisition module 804 is used to acquire, from the first vertex set, a target first vertex that has a position corresponding relationship with a target second vertex in the second vertex set.

[0114] The target vertex constraint item acquisition module 806 is used to obtain the target vertex constraint items, which include the position adjustment item corresponding to the target first vertex and the difference between the position of the target second vertex. The position adjustment item is the result of the operation between the first position adjustment parameter corresponding to the target first vertex and the position of the target first vertex.

[0115] The first position adjustment factor obtaining module 808 is used to determine the value corresponding to the first position adjustment parameter when the target vertex constraint item satisfies the minimization constraint condition, and obtain the first position adjustment factor corresponding to the target first vertex.

[0116] The target fitting 3D object model obtaining module 810 is used to adjust the position of the corresponding target first vertex using the first position adjustment factor to obtain the target fitting 3D object model corresponding to the target 3D object model.

[0117] In some embodiments, the target vertex constraint item also includes a difference item consisting of a first position adjustment parameter and a second position adjustment parameter, the second position adjustment parameter is a position adjustment parameter corresponding to the first associated vertex, and the first associated vertex is a first vertex having a connection relationship with the target first vertex; the device also includes: a second position adjustment factor obtaining module, which is used to determine the value corresponding to the second position adjustment parameter when the target vertex constraint item satisfies the minimization constraint condition, and obtain the second position adjustment factor corresponding to the first associated vertex; the target fitting three-dimensional object model obtaining module 810 is also used to use the first position adjustment factor to adjust the position of the corresponding target first vertex, and use the second position adjustment factor to adjust the position of the first associated vertex, to obtain the target fitting three-dimensional object model corresponding to the target three-dimensional object model.

[0118] In some embodiments, the target vertex constraint item also includes a difference item consisting of a second position adjustment parameter and a third position adjustment parameter, the third position adjustment parameter is a position adjustment parameter corresponding to the second associated vertex, and the second associated vertex is a first vertex having a connection relationship with the first associated vertex; the device also includes: a third position adjustment factor determination module, used to determine the value corresponding to the third position adjustment parameter when the target vertex constraint item satisfies the minimization constraint condition, and obtain the third position adjustment factor corresponding to the second associated vertex; a target fitting three-dimensional object model acquisition module 810, which is also used to use the first position adjustment factor to adjust the position of the corresponding target first vertex, use the second position adjustment factor to adjust the position of the first associated vertex, and use the third position adjustment factor to adjust the position of the second associated vertex, to obtain a target fitting three-dimensional object model corresponding to the target three-dimensional object model.

[0119] In some embodiments, the device also includes: an angle constraint item determination module, which is used to determine the angle constraint item as the result of a distance operation between the position of the target second vertex and the position corresponding to the position adjustment item when the cosine value of the angle between the target vector and the target normal vector is negative.

[0120] In some embodiments, the device further includes an initial fitting three-dimensional object model obtaining module, and the initial fitting three-dimensional object model obtaining module includes:

[0121] The standard three-dimensional joint point set acquisition unit is used to acquire a standard three-dimensional object model and a standard three-dimensional joint point set corresponding to the standard three-dimensional object model. The standard three-dimensional joint point set includes a plurality of standard three-dimensional joint points.

[0122] The target joint point constraint item acquisition unit is used to acquire the target joint point constraint item, the target joint point constraint item includes the difference between the limb length adjustment item and the target limb length, and the limb length adjustment item is the difference between the first joint point adjustment item and the second joint point adjustment item. The first joint point adjustment item is the result of the operation between the position of the first standard three-dimensional joint point and the morphological adjustment parameter, and the second joint point adjustment item is the result of the operation between the position of the second standard three-dimensional joint point and the morphological adjustment parameter. The first standard three-dimensional joint point and the second standard three-dimensional joint point correspond to the target limb type, and the target limb length is the position difference between the first target three-dimensional joint point corresponding to the target limb type and the corresponding second target three-dimensional joint point.

[0123] The target joint point adjustment factor obtaining unit is used to determine the value corresponding to the morphological adjustment parameter when the target joint point constraint item satisfies the minimization constraint condition, and obtain the target joint point adjustment factor.

[0124] The initial fitting three-dimensional object model obtaining unit is used to adjust the positions of the joints of the standard three-dimensional object model using the target joint adjustment factor to obtain the initial fitting three-dimensional object model.

[0125] In some embodiments, the target joint point adjustment factor obtaining unit is also used to determine the values ​​corresponding to the morphology adjustment parameters and the posture adjustment parameters when the target joint point constraint item satisfies the minimization constraint condition, so as to obtain the target joint point adjustment factor.

[0126] For the specific definition of the automatic deformation device of the human body parametric model based on three-dimensional point cloud, please refer to the definition of the automatic deformation method of the human body parametric model based on three-dimensional point cloud in the above text, which will not be repeated here. Each module in the above-mentioned automatic deformation device of the human body parametric model based on three-dimensional point cloud can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0127] In some embodiments, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig. 9As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for automatically deforming a human body parameterized model based on a three-dimensional point cloud is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse, etc.

[0128] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0129] In some embodiments, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps of the above-mentioned method for automatic deformation of a human body parametric model based on three-dimensional point cloud are implemented.

[0130] In some embodiments, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method for automatic deformation of a human body parametric model based on three-dimensional point cloud are implemented.

[0131] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0132] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0133] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for automatic deformation of a human body parametric model based on three-dimensional point cloud, characterized in that: The method comprises: Acquire an initial fitting 3D object model corresponding to a target 3D object model, wherein the initial fitting 3D object model is obtained by fitting according to the 3D joint points corresponding to the target 3D object model; the initial fitting 3D object model corresponds to a first vertex set, and the target 3D object model corresponds to a second vertex set; the first vertex set includes a plurality of first vertices for constituting each facet in the initial fitting 3D object model, and the second vertex set includes a plurality of second vertices for constituting each facet in the target 3D object model; Acquire, from the first vertex set, a target first vertex having a position corresponding relationship with a target second vertex in the second vertex set; Obtain a target vertex constraint item, wherein the target vertex constraint item includes a position adjustment item corresponding to the target first vertex and the difference between the position of the target second vertex, wherein the position adjustment item is a result of an operation between a first position adjustment parameter corresponding to the target first vertex and the position of the target first vertex; the target vertex constraint item also includes an angle constraint item corresponding to the target first vertex, wherein the angle constraint item is determined according to a cosine value of an angle between a target vector and a target normal vector, wherein the end point of the target vector is the target second vertex, and the position of the starting point of the target vector is the position corresponding to the position adjustment item of the target first vertex, and the target normal vector is calculated according to plane normal vectors corresponding to each plane corresponding to the target first vertex; When it is determined that the target vertex constraint item satisfies the minimization constraint condition, the value corresponding to the first position adjustment parameter is used to obtain the first position adjustment factor corresponding to the target first vertex; The first position adjustment factor is used to adjust the position of the corresponding target first vertex to obtain a target fitting three-dimensional object model corresponding to the target three-dimensional object model.

2. The method according to claim 1, characterized in that The target vertex constraint item further includes a difference item consisting of the first position adjustment parameter and a second position adjustment parameter, wherein the second position adjustment parameter is a position adjustment parameter corresponding to a first associated vertex, and the first associated vertex is a first vertex having a connection relationship with the target first vertex; The method further comprises: When it is determined that the target vertex constraint item satisfies the minimization constraint condition, the value corresponding to the second position adjustment parameter is used to obtain a second position adjustment factor corresponding to the first associated vertex; The step of adjusting the position of the corresponding target first vertex by using the first position adjustment factor to obtain a target fitting three-dimensional object model corresponding to the target three-dimensional object model comprises: The position of the corresponding target first vertex is adjusted using the first position adjustment factor, and the position of the first associated vertex is adjusted using the second position adjustment factor to obtain a target fitting three-dimensional object model corresponding to the target three-dimensional object model.

3. The method according to claim 2, characterized in that The target vertex constraint item further includes a difference item consisting of the second position adjustment parameter and a third position adjustment parameter, the third position adjustment parameter is a position adjustment parameter corresponding to the second associated vertex, and the second associated vertex is a first vertex having a connection relationship with the first associated vertex; The method further comprises: Determine a value corresponding to the third position adjustment parameter when the target vertex constraint item satisfies the minimization constraint condition, and obtain a third position adjustment factor corresponding to the second associated vertex; The step of adjusting the position of the corresponding target first vertex by using the first position adjustment factor and adjusting the position of the first associated vertex by using the second position adjustment factor to obtain a target fitting three-dimensional object model corresponding to the target three-dimensional object model includes: The position of the corresponding target first vertex is adjusted using the first position adjustment factor, the position of the first associated vertex is adjusted using the second position adjustment factor, and the position of the second associated vertex is adjusted using the third position adjustment factor to obtain a target fitting three-dimensional object model corresponding to the target three-dimensional object model.

4. The method according to claim 1, characterized in that: The target three-dimensional object model is obtained by scanning.

5. The method according to claim 4, characterized in that The method further comprises: When the cosine value of the angle between the target vector and the target normal vector is a negative value, the angle constraint item is determined to be a result of a distance operation between the position of the target second vertex and the position corresponding to the position adjustment item.

6. The method according to claim 1, characterized in that The step of obtaining the initial fitting three-dimensional object model comprises: Acquire a standard three-dimensional object model and a standard three-dimensional joint point set corresponding to the standard three-dimensional object model; the standard three-dimensional joint point set includes a plurality of standard three-dimensional joint points; Obtain a target joint point constraint item, wherein the target joint point constraint item includes a difference between a limb length adjustment item and a target limb length, wherein the limb length adjustment item is a difference result between a first joint point adjustment item and a second joint point adjustment item; the first joint point adjustment item is a result of an operation between a position of a first standard three-dimensional joint point and a morphological adjustment parameter, and the second joint point adjustment item is a result of an operation between a position of a second standard three-dimensional joint point and the morphological adjustment parameter; the first standard three-dimensional joint point and the second standard three-dimensional joint point correspond to a target limb type, and the target limb length is a position difference between a first target three-dimensional joint point corresponding to the target limb type and a corresponding second target three-dimensional joint point; When it is determined that the target joint point constraint item satisfies the minimization constraint condition, the value corresponding to the morphology adjustment parameter is used to obtain the target joint point adjustment factor; The target joint point adjustment factor is used to adjust the position of the joint points of the standard three-dimensional object model to obtain the initial fitting three-dimensional object model.

7. The method according to claim 6, characterized in that The target joint point constraint item also includes a difference between a third joint point adjustment item corresponding to the first standard three-dimensional joint point and the position of the first target three-dimensional joint point, wherein the third joint point adjustment item is a result of calculating the posture adjustment parameter and the first joint point adjustment item; The first target three-dimensional joint point is consistent with the first standard three-dimensional joint point in joint point type; When determining that the target joint point constraint item satisfies the minimization constraint condition, the value corresponding to the morphological adjustment parameter to obtain the target joint point adjustment factor includes: When it is determined that the target joint point constraint item satisfies the minimization constraint condition, the value corresponding to the morphology adjustment parameter and the value corresponding to the posture adjustment parameter are used to obtain the target joint point adjustment factor.

8. A human body parameterized model automatic deformation device based on three-dimensional point cloud, characterized in that: The device comprises: An initial fitting three-dimensional object model acquisition module is used to acquire an initial fitting three-dimensional object model corresponding to a target three-dimensional object model, wherein the initial fitting three-dimensional object model is obtained by fitting according to three-dimensional joint points corresponding to the target three-dimensional object model; the initial fitting three-dimensional object model corresponds to a first vertex set, and the target three-dimensional object model corresponds to a second vertex set; the first vertex set includes a plurality of first vertices for constituting each facet in the initial fitting three-dimensional object model, and the second vertex set includes a plurality of second vertices for constituting each facet in the target three-dimensional object model; A target first vertex acquisition module, used for acquiring, from the first vertex set, a target first vertex having a position corresponding relationship with a target second vertex in the second vertex set; A target vertex constraint item acquisition module is used to acquire target vertex constraint items, wherein the target vertex constraint items include the difference between the position adjustment item corresponding to the target first vertex and the position of the target second vertex, wherein the position adjustment item is the result of an operation between a first position adjustment parameter corresponding to the target first vertex and the position of the target first vertex; the target vertex constraint items also include an angle constraint item corresponding to the target first vertex, wherein the angle constraint item is determined based on the cosine value of the angle between a target vector and a target normal vector, wherein the end point of the target vector is the target second vertex, and the position of the starting point of the target vector is the position corresponding to the position adjustment item of the target first vertex, and the target normal vector is calculated based on the plane normal vectors corresponding to each plane corresponding to the target first vertex; A first position adjustment factor obtaining module is used to determine the value corresponding to the first position adjustment parameter when the target vertex constraint item satisfies the minimization constraint condition, and obtain the first position adjustment factor corresponding to the target first vertex; The target fitting three-dimensional object model obtaining module is used to adjust the position of the corresponding target first vertex using the first position adjustment factor to obtain the target fitting three-dimensional object model corresponding to the target three-dimensional object model.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

Images