A method, device, mobile terminal and storage medium for repairing point cloud holes

Abstract

The present invention discloses a method, device, mobile terminal and storage medium for repairing point cloud holes, the method comprising: obtaining hole boundary information in a point cloud model to be repaired; calculating a plurality of boundary line segments according to the hole boundary information; merging a first boundary line segment with a second boundary line segment to generate a first processing result; wherein the first boundary line segment is a boundary line segment whose length is less than a first preset value, and the second boundary line segment is a boundary line segment located in the neighborhood of the first boundary line segment; interpolating a third boundary line segment to generate a second processing result; wherein the third boundary line segment is a boundary line segment whose length is greater than a second preset value; after completing the homogenization processing of the boundary line segments according to the first processing result and the second processing result, performing hole repair processing on the point cloud model to be repaired. The use of the embodiments of the present invention can improve the efficiency of repairing point cloud holes.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a method, device, mobile terminal and storage medium for repairing point cloud holes. Background Art

[0002] Point cloud models are widely used in the fields of 3D reconstruction, machine vision, reverse modeling, virtual scene construction, and digital twins. A high-precision, complete point cloud model is the basis and prerequisite for downstream applications such as 3D reconstruction, geometric modeling, and virtual simulation. If there are holes in the point cloud model, it will not only affect the display effect of the 3D digital model, but also have a great impact on subsequent model reconstruction and simulation analysis. Therefore, it is necessary to repair the holes in the point cloud model to ensure the integrity and accuracy of the point cloud data, thereby laying the foundation for downstream operations and processing.

[0003] At present, most point cloud hole repairing methods cannot achieve efficient adjustment of point cloud normals. When the boundary points of point cloud holes are relatively messy, it is impossible to quickly connect the boundary points into a closed curve with continuous normals and positions.

[0004] In summary, the point cloud hole repair method in the prior art has the problem of low efficiency. Summary of the invention

[0005] The embodiments of the present invention provide a method, device, mobile terminal and storage medium for repairing point cloud holes, which improve the efficiency of repairing point cloud holes.

[0006] A first aspect of an embodiment of the present application provides a method for repairing a point cloud hole, comprising:

[0007] Obtain hole boundary information in the point cloud model to be repaired;

[0008] A plurality of boundary line segments are calculated based on the hole boundary information;

[0009] The first boundary line segment and the second boundary line segment are combined to generate a first processing result; wherein the first boundary line segment is a boundary line segment whose length is less than a first preset value, and the second boundary line segment is a boundary line segment located in the neighborhood of the first boundary line segment;

[0010] Performing interpolation processing on the third boundary line segment to generate a second processing result; wherein the third boundary line segment is a boundary line segment having a length greater than a second preset value;

[0011] After the boundary line segment is homogenized according to the first processing result and the second processing result, hole repairing is performed on the point cloud model to be repaired.

[0012] In a possible implementation manner of the first aspect, multiple boundary line segments are calculated according to the hole boundary information, specifically:

[0013] The point cloud normal is calculated based on the average point distance of the point cloud model to be repaired;

[0014] The directed line segment in the hole boundary information is obtained. When the length of the directed line segment is less than a third preset value and the normal direction of the directed line segment is the same as the point cloud normal, the directed line segment is determined to be a boundary line segment and is obtained.

[0015] In a possible implementation manner of the first aspect, hole repairing is performed on the point cloud model to be repaired, specifically:

[0016] After completing the homogenization processing of the boundary line segment according to the first processing result and the second processing result, a homogenized first closed boundary curve is generated;

[0017] Project the first closed boundary curve onto the normal plane to obtain the minimum point of the internal angle;

[0018] After forming the first included angle according to the minimum point of the interior angle and its neighboring points, revising the first closed boundary curve according to the type of the first included angle to obtain the second closed boundary curve;

[0019] It is determined whether the second closed boundary curve has a folded boundary. If so, the folded boundary is divided into multiple simple closed curves, and the multiple simple closed curves are respectively subjected to hole repair processing; if not, the second closed boundary curve is directly subjected to hole repair processing.

[0020] In a possible implementation manner of the first aspect, the method further includes: when it is determined that the hole repairing process is not completed, performing a homogenization process according to the second closed boundary curve.

[0021] In a possible implementation manner of the first aspect, determining that the hole repairing process is not completed is specifically:

[0022] When the number of boundary line segments is greater than a fourth preset value, it is determined that the hole repair process is not completed;

[0023] When the number of boundary line segments is less than or equal to a fourth preset value, it is determined that the hole repairing process is completed.

[0024] A second aspect of an embodiment of the present application provides a point cloud hole repair device, comprising: an acquisition module, a calculation module, a first processing module, a second processing module and a repair module;

[0025] Among them, the acquisition module is used to obtain the hole boundary information in the point cloud model to be repaired;

[0026] The calculation module is used to calculate a plurality of boundary line segments according to the hole boundary information;

[0027] The first processing module is used to merge the first boundary line segment and the second boundary line segment to generate a first processing result; wherein the first boundary line segment is a boundary line segment whose length is less than a first preset value, and the second boundary line segment is a boundary line segment located in the neighborhood of the first boundary line segment;

[0028] The second processing module is used to perform interpolation processing on the third boundary line segment to generate a second processing result; wherein the third boundary line segment is a boundary line segment having a length greater than a second preset value;

[0029] The repair module is used to perform hole repair processing on the point cloud model to be repaired after completing the homogenization processing of the boundary line segment according to the first processing result and the second processing result.

[0030] In a possible implementation manner of the second aspect, multiple boundary line segments are calculated according to the hole boundary information, specifically:

[0031] The point cloud normal is calculated based on the average point distance of the point cloud model to be repaired;

[0032] The directed line segment in the hole boundary information is obtained. When the length of the directed line segment is less than a third preset value and the normal direction of the directed line segment is the same as the point cloud normal, the directed line segment is determined to be a boundary line segment and is obtained.

[0033] In a possible implementation manner of the second aspect, hole repair processing is performed on the point cloud model to be repaired, specifically as follows:

[0034] After completing the homogenization processing of the boundary line segment according to the first processing result and the second processing result, a homogenized first closed boundary curve is generated;

[0035] Project the first closed boundary curve onto the normal plane to obtain the minimum point of the internal angle;

[0036] After forming the first included angle according to the minimum point of the interior angle and its neighboring points, revising the first closed boundary curve according to the type of the first included angle to obtain the second closed boundary curve;

[0037] It is determined whether the second closed boundary curve has a folded boundary. If so, the folded boundary is divided into multiple simple closed curves and a hole repair process is performed. If not, the second closed boundary curve is directly subjected to a hole repair process.

[0038] A third aspect of an embodiment of the present application provides a mobile terminal, including a processor and a memory, the memory storing a computer-readable program code, and the processor implementing the steps of the above-mentioned point cloud hole repair method when executing the computer-readable program code.

[0039] A fourth aspect of an embodiment of the present application provides a storage medium, which stores a computer-readable program code. When the computer-readable program code is executed, the steps of the above-mentioned method for repairing a point cloud hole are implemented.

[0040] Compared with the prior art, an embodiment of the present invention provides a method, device, mobile terminal and storage medium for repairing point cloud holes, the method comprising: obtaining hole boundary information in a point cloud model to be repaired; calculating multiple boundary line segments based on the hole boundary information; merging a first boundary line segment with a second boundary line segment to generate a first processing result; wherein the first boundary line segment is a boundary line segment having a length less than a first preset value, and the second boundary line segment is a boundary line segment located in the neighborhood of the first boundary line segment; interpolating a third boundary line segment to generate a second processing result; wherein the third boundary line segment is a boundary line segment having a length greater than a second preset value; after completing the homogenization processing of the boundary line segments based on the first processing result and the second processing result, performing hole repair processing on the point cloud model to be repaired.

[0041] Its beneficial effect is that after obtaining the boundary line segments of the holes in the point cloud model to be repaired, the embodiment of the present invention merges the boundary line segments whose length is less than the first preset value, and interpolates the boundary line segments whose length is greater than the second preset value. When the boundary points of the point cloud holes are relatively messy, the length of each boundary line segment can be uniformized, thereby quickly completing the uniformization of the boundary segments, and quickly connecting the boundary points into a closed curve with continuous normal and position, thereby effectively improving the repair efficiency of the point cloud holes, and at the same time being able to realize the repair of holes in large areas and sharp feature areas in the point cloud model.

[0042] Furthermore, the embodiment of the present invention represents the average distance of the point cloud model by calculating the average point distance, which greatly improves the calculation efficiency of the average distance, thereby further improving the efficiency of repairing point cloud holes.

[0043] Finally, the embodiments of the present invention can provide important technical support for downstream applications such as three-dimensional reconstruction, geometric modeling and virtual simulation, and are of great significance for realizing high-precision and high-efficiency virtual scene construction and editing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a flow chart of a method for repairing a point cloud hole provided by an embodiment of the present invention;

[0045] Figure 2 is a schematic diagram of revising a first closed boundary curve according to a first type of a first included angle provided by an embodiment of the present invention;

[0046] Figure 3is a schematic diagram of revising a first closed boundary curve according to a second type of a first included angle provided by an embodiment of the present invention;

[0047] Figure 4 is a schematic diagram of a folding boundary provided by an embodiment of the present invention;

[0048] Figure 5 It is a structural schematic diagram of a point cloud hole repair device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] Reference Figure 1 , is a schematic flow chart of a method for repairing a point cloud hole provided by an embodiment of the present invention, including S101-S105:

[0051] S101: Obtain hole boundary information in the point cloud model to be repaired.

[0052] S102: Calculate and obtain multiple boundary line segments according to the hole boundary information.

[0053] In this embodiment, the plurality of boundary line segments are calculated based on the hole boundary information, specifically:

[0054] The point cloud normal is obtained by calculating the average point distance of the point cloud model to be repaired;

[0055] A directed line segment in the hole boundary information is obtained, and when the length of the directed line segment is less than a third preset value and the normal direction of the directed line segment is the same as the normal direction of the point cloud, the directed line segment is determined to be the boundary line segment and is obtained.

[0056] The calculation process of the average point distance is as follows: first calculate the minimum hexahedral bounding box containing all the point cloud models to be repaired, and obtain the lengths dx, dy, and dz in the three coordinate axes of x, y, and z, that is, the lengths of the three sides of the bounding box. For each minimum hexahedral bounding box, take the value as the middle length and record it as s, then the average spacing S e It can be expressed by the following formula:

[0057]

[0058] Among them, k is the resolvable scale constant factor, which is generally between 60 and 80.

[0059] The point cloud model to be repaired is defined as an orientable manifold M with a metric g, according to the average spacing s e Define the local coordinate card of a point on the oriented manifold M as For an oriented manifold M and a local coordinate card at a point on the oriented manifold M If U i and U j The intersection is not empty, for any point p∈U i ∩U j , the coordinate transformation matrix at point p The determinant of is positive. Then the open coverage on the point cloud model to be repaired is calculated, and the point cloud normals of the intersecting open coverage on the point cloud model to be repaired are adjusted and obtained in turn.

[0060] Furthermore, generally, the third preset value r can be obtained by enlarging the average point distance by 2 to 3 times.

[0061] When a directed line segment The line segment length is less than a third preset value r (where vi and vj are points on the hole boundary), and (i.e. directed line segment normal direction) and V m If the normals of the points (i.e. the normals of the point cloud) are in the same direction, then it is called a directed line segment. is the boundary segment. m yes The midpoint of B(v m , r) is V m The point cloud set contained in the circle with centered at and r as radius.

[0062] Further, is the initial line segment, and line segments are continuously added until no more can be added or until a closed line segment is added. The newly added line segments are all boundary line segments with a length less than r, and the direction of the newly added directed line segments should be consistent with the direction of the previous line segments.

[0063] S103: merging the first boundary line segment and the second boundary line segment to generate a first processing result.

[0064] The first boundary line segment is a boundary line segment whose length is less than a first preset value, and the second boundary line segment is a boundary line segment located in the vicinity of the first boundary line segment.

[0065] S104: performing interpolation processing on the third boundary line segment to generate a second processing result.

[0066] The third boundary line segment is a boundary line segment whose length is greater than the second preset value, and the interpolation process is to divide the third boundary line segment into two line segments from the middle.

[0067] Furthermore, the second preset value is twice the first preset value.

[0068] S105: After completing the homogenization processing of the boundary line segments according to the first processing result and the second processing result, performing hole repair processing on the point cloud model to be repaired.

[0069] In this embodiment, the hole repairing process is performed on the point cloud model to be repaired, specifically:

[0070] After completing the homogenization processing of the boundary line segment according to the first processing result and the second processing result, a homogenized first closed boundary curve is generated;

[0071] Projecting the first closed boundary curve onto the normal plane to obtain the minimum point of the internal angle;

[0072] After forming a first angle according to the minimum point of the inner angle and its neighboring points, revising the first closed boundary curve according to the type of the first angle to obtain a second closed boundary curve;

[0073] Determine whether the second closed boundary curve has a folded boundary. If so, divide the folded boundary into multiple simple closed curves, and perform hole repair processing on the multiple simple closed curves respectively; if not, directly perform hole repair processing on the second closed boundary curve.

[0074] Specifically, the types of the first angle include: a first type, a second type and a third type; wherein the first type is a type in which the first angle is less than 90°, the second type is a type in which the first angle is greater than 90° and less than 180°, and the third type is a type in which the first angle is greater than 180°.

[0075] In this embodiment, the method further includes: when it is determined that the hole repairing process is not completed, performing a homogenization process according to the second closed boundary curve, that is, re-executing steps S103 to S105 according to the second closed boundary curve.

[0076] In a specific embodiment, the determining that the hole repair process is not completed is specifically:

[0077] When the number of the boundary line segments is greater than a fourth preset value, it is determined that the hole repair process is not completed;

[0078] When the number of the boundary line segments is less than or equal to the fourth preset value, it is determined that the hole repairing process is completed.

[0079] Preferably, the fourth preset value is 3.

[0080] To further explain the process of revising the first closed boundary curve according to the type of the first angle, please refer to Figure 2-Figure 3 .

[0081] in, Figure 2 It is a schematic diagram of revising a first closed boundary curve according to a first type of a first angle provided by an embodiment of the present invention.

[0082] Depend on Figure 2 It can be obtained that there is a first angle formed by the minimum interior angle point Pi and its neighboring points P{i+1} and P{i-1}, and the type of the first angle is the first type, that is, the first angle is less than 90°. Directly connect P{i+1} and P{i-1} with a dotted line segment l, and find the midpoint P* between the dotted line segments l, and use solid lines to connect P{i+1} and P*, P{i-1} and P*, respectively, to complete the revision of the first closed boundary curve.

[0083] Figure 3 is a schematic diagram of revising a first closed boundary curve according to a second type of a first angle provided by an embodiment of the present invention, Figure 3 It can be obtained that there is a first angle formed by the minimum interior angle point Pi and its neighboring points P{i+1} and P{i-1}, and the type of the first angle is the second type, that is, the first angle is greater than 90° and less than 180°. Create the corresponding point of P{i-1} Make the distance from Pi to P{i-1} equal to the distance from Pi to distance; create the corresponding point of P{i+1} Make the distance from Pi to P{i+1} equal to the distance from Pi to The distance is calculated, and the revision of the first closed boundary curve is completed.

[0084] In order to smooth the hole filling effect and accelerate convergence, the normal of the Pi point should be weighted by the normal of the boundary. In this embodiment, the weighting factor is 0.1.

[0085] Furthermore, the second closed boundary curve has a folded boundary such as Figure 4 As shown, Figure 4 It is a schematic diagram of a folding boundary provided by an embodiment of the present invention.

[0086] According to Figure 4 , it is necessary to split the folded boundary into two simple closed curves and perform hole repair on the two simple closed curves respectively. Specifically, first calculate the intersection of the boundary line segments corresponding to the boundary folding position and add the intersection to the boundary line. Then split the boundary line into simple closed curves and perform hole repair on the enclosed area of ​​the simple closed boundary curve.

[0087] For further explanation of the point cloud hole repair device, please refer to Figure 5 , Figure 51 is a schematic diagram of the structure of a point cloud hole repair device provided by an embodiment of the present invention, comprising: an acquisition module 501, a calculation module 502, a first processing module 503, a second processing module 504 and a repair module 505;

[0088] Wherein, the acquisition module 501 is used to acquire hole boundary information in the point cloud model to be repaired;

[0089] The calculation module 502 is used to calculate a plurality of boundary line segments according to the hole boundary information;

[0090] The first processing module 503 is used to merge the first boundary line segment and the second boundary line segment to generate a first processing result; wherein the first boundary line segment is a boundary line segment whose length is less than a first preset value, and the second boundary line segment is a boundary line segment located in the neighborhood of the first boundary line segment;

[0091] The second processing module 504 is used to perform interpolation processing on the third boundary line segment to generate a second processing result; wherein the third boundary line segment is a boundary line segment having a length greater than a second preset value;

[0092] The patching module 505 is used to perform hole patching processing on the point cloud model to be patched after completing the homogenization processing of the boundary line segment according to the first processing result and the second processing result.

[0093] In this embodiment, the plurality of boundary line segments are calculated based on the hole boundary information, specifically:

[0094] The point cloud normal is obtained by calculating the average point distance of the point cloud model to be repaired;

[0095] A directed line segment in the hole boundary information is obtained, and when the length of the directed line segment is less than a third preset value and the normal direction of the directed line segment is the same as the normal direction of the point cloud, the directed line segment is determined to be the boundary line segment and is obtained.

[0096] In a specific embodiment, the hole repairing process is performed on the point cloud model to be repaired, specifically:

[0097] After completing the homogenization processing of the boundary line segment according to the first processing result and the second processing result, a homogenized first closed boundary curve is generated;

[0098] Projecting the first closed boundary curve onto the normal plane to obtain the minimum point of the internal angle;

[0099] After forming a first angle according to the minimum point of the inner angle and its neighboring points, revising the first closed boundary curve according to the type of the first angle to obtain a second closed boundary curve;

[0100] It is determined whether the second closed boundary curve has a folded boundary. If so, the folded boundary is divided into multiple simple closed curves and a hole repair process is performed; if not, the second closed boundary curve is directly subjected to a hole repair process.

[0101] A specific embodiment of the present invention provides a mobile terminal, including a processor and a memory, wherein the memory stores a computer-readable program code, and when the processor executes the computer-readable program code, the steps of the above-mentioned method for repairing a point cloud hole are implemented.

[0102] A specific embodiment of the present invention provides a storage medium, wherein the storage medium stores computer-readable program codes, and when the computer-readable program codes are executed, the steps of the above-mentioned method for repairing a point cloud hole are implemented.

[0103] In the embodiment of the present invention, the hole boundary information in the point cloud model to be repaired is obtained by the acquisition module 501; a plurality of boundary line segments are calculated according to the hole boundary information by the calculation module 502; the first boundary line segment and the second boundary line segment are merged and processed by the first processing module 503 to generate a first processing result; wherein the first boundary line segment is a boundary line segment whose length is less than a first preset value, and the second boundary line segment is a boundary line segment located in the neighborhood of the first boundary line segment; the third boundary line segment is interpolated and processed by the second processing module 504 to generate a second processing result; wherein the third boundary line segment is a boundary line segment whose length is greater than the second preset value; after the patching module 505 completes the homogenization processing of the boundary segments according to the first processing result and the second processing result, the hole patching processing is performed on the point cloud model to be repaired.

[0104] After obtaining the boundary line segments of the holes in the point cloud model to be repaired, the embodiment of the present invention merges the boundary line segments whose length is less than a first preset value, and interpolates the boundary line segments whose length is greater than a second preset value. When the boundary points of the point cloud holes are relatively messy, the length of each boundary line segment can be uniformized, thereby quickly completing the uniformization of the boundary segments, and quickly connecting the boundary points into a closed curve with continuous normal and position, thereby effectively improving the repair efficiency of the point cloud holes, and at the same time being able to realize the repair of holes in large areas and sharp feature areas in the point cloud model.

[0105] Furthermore, the embodiment of the present invention represents the average distance of the point cloud model by calculating the average point distance, which greatly improves the calculation efficiency of the average distance, thereby further improving the efficiency of repairing point cloud holes.

[0106] Finally, the embodiments of the present invention can provide important technical support for downstream applications such as three-dimensional reconstruction, geometric modeling and virtual simulation, and are of great significance for realizing high-precision and high-efficiency virtual scene construction and editing technology.

[0107] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for repairing a point cloud hole, characterized in that: include: Obtain hole boundary information in the point cloud model to be repaired; Calculate and obtain multiple boundary line segments according to the hole boundary information; Merging the first boundary line segment and the second boundary line segment to generate a first processing result; wherein the first boundary line segment is a boundary line segment whose length is less than a first preset value, and the second boundary line segment is a boundary line segment located in the neighborhood of the first boundary line segment; Performing interpolation processing on the third boundary line segment to generate a second processing result; wherein the third boundary line segment is a boundary line segment having a length greater than a second preset value; After completing the homogenization processing of the boundary line segment according to the first processing result and the second processing result, performing hole repair processing on the point cloud model to be repaired; The calculation of the plurality of boundary line segments according to the hole boundary information is specifically as follows: The point cloud normal is obtained by calculating the average point distance of the point cloud model to be repaired; Acquire a directed line segment in the hole boundary information, and when the length of the directed line segment is less than a third preset value and the normal direction of the directed line segment is the same as the normal direction of the point cloud, determine that the directed line segment is the boundary line segment and acquire it; The hole repairing process of the point cloud model to be repaired is specifically as follows: After completing the homogenization processing of the boundary line segment according to the first processing result and the second processing result, a homogenized first closed boundary curve is generated; Projecting the first closed boundary curve onto the normal plane to obtain the minimum point of the internal angle; After forming a first angle according to the minimum point of the inner angle and its neighboring points, revising the first closed boundary curve according to the type of the first angle to obtain a second closed boundary curve; Determine whether the second closed boundary curve has a folded boundary. If so, divide the folded boundary into multiple simple closed curves, and perform hole repair processing on the multiple simple closed curves respectively; if not, directly perform hole repair processing on the second closed boundary curve.

2. A method for repairing a point cloud hole according to claim 1, characterized in that: Also includes: When it is determined that the hole repairing process is not completed, a homogenization process is performed according to the second closed boundary curve.

3. A method for repairing a point cloud hole according to claim 2, characterized in that: The determination that the hole repair process is not completed is specifically as follows: When the number of the boundary line segments is greater than a fourth preset value, it is determined that the hole repair process is not completed; When the number of the boundary line segments is less than or equal to the fourth preset value, it is determined that the hole repairing process is completed.

4. A point cloud hole repair device, characterized in that: include: An acquisition module, a calculation module, a first processing module, a second processing module and a repair module; Wherein, the acquisition module is used to obtain hole boundary information in the point cloud model to be repaired; The calculation module is used to calculate a plurality of boundary line segments according to the hole boundary information; The first processing module is used to merge the first boundary line segment and the second boundary line segment to generate a first processing result; wherein the first boundary line segment is a boundary line segment whose length is less than a first preset value, and the second boundary line segment is a boundary line segment located in the neighborhood of the first boundary line segment; The second processing module is used to perform interpolation processing on the third boundary line segment to generate a second processing result; wherein the third boundary line segment is a boundary line segment having a length greater than a second preset value; The patching module is used for performing hole patching processing on the point cloud model to be patched after completing the homogenization processing of the boundary line segment according to the first processing result and the second processing result; The calculation of the plurality of boundary line segments according to the hole boundary information is specifically as follows: The point cloud normal is obtained by calculating the average point distance of the point cloud model to be repaired; Acquire a directed line segment in the hole boundary information, and when the length of the directed line segment is less than a third preset value and the normal direction of the directed line segment is the same as the normal direction of the point cloud, determine that the directed line segment is the boundary line segment and acquire it; The hole repairing process of the point cloud model to be repaired is specifically as follows: After completing the homogenization processing of the boundary line segment according to the first processing result and the second processing result, a homogenized first closed boundary curve is generated; Projecting the first closed boundary curve onto the normal plane to obtain the minimum point of the internal angle; After forming a first angle according to the minimum point of the inner angle and its neighboring points, revising the first closed boundary curve according to the type of the first angle to obtain a second closed boundary curve; It is determined whether the second closed boundary curve has a folded boundary. If so, the folded boundary is divided into multiple simple closed curves and a hole repair process is performed; if not, the second closed boundary curve is directly subjected to a hole repair process.

5. A mobile terminal, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer-readable program code, and when the processor executes the computer-readable program code, the steps of a point cloud hole repairing method according to any one of claims 1 to 3 are implemented.

6. A storage medium, characterized in that: The storage medium stores computer-readable program codes, and when the computer-readable program codes are executed, the steps of a point cloud hole repairing method according to any one of claims 1 to 3 are implemented.

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