Mesh model construction method and device based on point cloud, electronic equipment and readable medium
By labeling and processing invalid points in three-dimensional point cloud data, the normal vector of target vertices in the Mesh model is determined, and the vulnerability problem caused by invalid points in the Mesh model is solved, and efficient and fast Mesh model construction is achieved.
Patent Information
- Application Number
- CN202411441279.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-16
- Publication Date
- 2025-02-28
AI Technical Summary
When building a Mesh model, if one of the two adjacent three-dimensional points is an invalid point, it will cause vulnerabilities in the mesh, and there is currently no efficient and fast solution.
By marking invalid points in the three-dimensional point cloud data and selecting the target vertex and its three adjacent neighbors according to the preset order, the normal vector of the target vertex is determined when the number of invalid points is less than 2.
The normal vector of the target vertex is effectively and quickly determined through the distribution of invalid points in the target vertex, thereby solving the problem of vulnerabilities in the Mesh model.
Smart Images
Figure CN119540444A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of data processing technology, and in particular to a method, device, electronic device and readable medium for constructing a point cloud-based Mesh model. Background Art
[0002] NVT's line scan camera can output point cloud data in real time, so it is necessary to build a mesh model in real time. In related technologies, a mesh model can be built through point cloud data of two adjacent frames, so it is not necessary to transmit all point cloud data to build a mesh model. The camera transmits more than two frames of data each time, so the camera can build a mesh model every time it outputs data, and then append it to the mesh model to be output or displayed. Except for the first time the mesh model is built, the point cloud data of the last frame transmitted last time must be added to the front each time the mesh model is built.
[0003] However, when one of two adjacent 3D points is an invalid point, there will be a hole in the constructed mesh, and no efficient and fast solution has been proposed yet. Summary of the invention
[0004] The content of this application is used to introduce concepts in a brief form, which will be described in detail in the detailed implementation section below. The content of this application is not intended to identify the key features or essential features of the technical solution claimed for protection, nor is it intended to limit the scope of the technical solution claimed for protection.
[0005] Some embodiments of the present application propose a point cloud-based Mesh model construction method, device, electronic device and readable medium to solve the technical problems mentioned in the above background technology section.
[0006] As a first aspect of the present application, some embodiments of the present application provide a method for constructing a Mesh model based on a point cloud, comprising:
[0007] In response to input three-dimensional point cloud data, marking invalid points in the three-dimensional point cloud data;
[0008] Select the target vertex and its three adjacent points according to a preset order;
[0009] When the number of invalid points among the target vertex and the three neighboring points is less than 2, a normal vector of the target vertex is determined according to the target vertex and the three neighboring points.
[0010] Optionally, the invalid point includes at least one of a zero point and a NAN point.
[0011] Optionally, selecting the target vertex and three adjacent points thereto according to a preset order includes:
[0012] Determine the coordinates of the target vertex as P i,j ;
[0013] Determine the coordinates of the three neighboring points adjacent to the target vertex as P i+1,j , P i,j+1 and P i+1,j+1 .
[0014] Among them, the P i,j is the point in the i-th row and j-th column in the three-dimensional point cloud data.
[0015] Optionally, when the number of invalid points among the target vertex and the three neighboring points is less than 2, determining the normal vector of the target vertex according to the target vertex and the three neighboring points includes:
[0016] In the case where there is an invalid point among the target vertex and the three adjacent points, the remaining three points form a triangular face;
[0017] Determine whether the side lengths of the triangular faces are all less than a side length threshold;
[0018] When the side lengths of the triangular face are all smaller than the side length threshold, the normal vector of the triangular face is used as the normal vector of the target vertex.
[0019] Optionally, when the number of invalid points among the target vertex and the three neighboring points is less than 2, determining the normal vector of the target vertex according to the target vertex and the three neighboring points includes:
[0020] In the case that there are no invalid points among the target vertex and the three adjacent points, construct the target vertex and the three adjacent points into a first group of triangular faces; wherein the first group of triangular faces includes two opposing triangular faces;
[0021] Determine whether the side lengths of the first group of triangular faces are all less than the side length threshold;
[0022] When the side lengths of the first group of triangular faces are all smaller than the side length threshold, the normal vectors of the first group of triangular faces are used as the normal vectors of the target vertex.
[0023] Optionally, when the number of invalid points among the target vertex and the three neighboring points is less than 2, determining the normal vector of the target vertex according to the target vertex and the three neighboring points further includes:
[0024] When there is an edge length greater than or equal to the edge length threshold in the first group of triangular faces, construct a second group of triangular faces according to the target vertex and three adjacent points;
[0025] Determine whether the side lengths of the second group of triangular faces are all less than the side length threshold;
[0026] When the side lengths of the second group of triangular faces are all less than the side length threshold, the normal vectors of the second group of triangular faces are used as the normal vectors of the target vertex;
[0027] When the second group of triangular faces has a side length greater than or equal to the side length threshold, the normal vector of the first group of triangular faces is used as the normal vector of the target vertex.
[0028] Optionally, the method for determining the edge length threshold includes:
[0029] Determine whether there is an input of edge length threshold;
[0030] When there is no input of the edge length threshold, the edge length threshold is determined according to a preset rule based on the positions of at least some of the three-dimensional points of the three-dimensional point cloud data.
[0031] As a second aspect of the present application, some embodiments of the present application provide a point cloud-based Mesh model construction device, including:
[0032] A marking module, used for marking invalid points in the three-dimensional point cloud data in response to the input three-dimensional point cloud data;
[0033] A selection module selects a target vertex and three adjacent points according to a preset order;
[0034] The determination module determines the normal vector of the target vertex according to the target vertex and the three neighboring points when the number of invalid points among the target vertex and the three neighboring points is less than 2.
[0035] As the third aspect of the present application, some embodiments of the present application provide an electronic device, comprising: one or more processors; a storage device on which one or more programs are stored, and when the one or more programs are executed by one or more processors, the one or more processors implement the method described in any implementation manner of the above-mentioned first aspect.
[0036] As a fourth aspect of the present application, some embodiments of the present application provide a computer-readable medium on which a computer program is stored, wherein when the program is executed by a processor, the method described in any implementation of the above-mentioned first aspect is implemented.
[0037] The beneficial effects of the present application are: providing a point cloud-based Mesh model construction method, device, electronic device and readable medium for efficiently and quickly determining the normal vector of a target vertex through the distribution of invalid points in the target vertex and three neighboring points. BRIEF DESCRIPTION OF THE DRAWINGS
[0038] The drawings constituting a part of this application are used to provide a further understanding of this application, so that other features, purposes and advantages of this application become more obvious. The illustrative embodiment drawings and their descriptions of this application are used to explain this application and do not constitute an improper limitation on this application.
[0039] In addition, throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that the components and elements are not necessarily drawn to scale.
[0040] In the attached picture:
[0041] Figure 1 It is a flowchart of the main steps of a method for constructing a Mesh model based on a point cloud according to an embodiment of the present application;
[0042] Figure 2 It is a specific flow chart of a method for constructing a Mesh model based on point cloud according to an embodiment of the present application;
[0043] Figure 3 It is a structural block diagram of a point cloud-based Mesh model construction device according to an embodiment of the present application;
[0044] Figure 4 It is a principle block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION
[0045] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.
[0046] It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other.
[0047] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.
[0048] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".
[0049] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.
[0050] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.
[0051] like Figure 1 As shown, the present application discloses a method for constructing a Mesh model based on point cloud, which includes the following main steps:
[0052] S110: In response to input three-dimensional point cloud data, marking invalid points in the three-dimensional point cloud data;
[0053] S120: Selecting a target vertex and three adjacent points thereto according to a preset order;
[0054] S130: When the number of invalid points among the target vertex and the three neighboring points is less than 2, determine the normal vector of the target vertex according to the target vertex and the three neighboring points.
[0055] By adopting the above technical solution, the normal vector of the target vertex can be determined efficiently and quickly through the target vertex and the distribution of invalid points in the three neighboring points.
[0056] When the number of invalid points among the target vertex and three neighboring points is greater than or equal to 2, return to select the next target vertex.
[0057] In some embodiments, the invalid point includes at least one of a zero point and a NAN point. The zero point is a point where all three coordinate values in the three-dimensional coordinates are 0. The NAN point is a point containing a NaN (NotaNumber) value, which specifically refers to a data point whose attribute value is invalid or missing in data processing.
[0058] In some embodiments, step S120 includes the following specific steps:
[0059] S121: Determine the coordinates of the target vertex as P i,j ;
[0060] S122: Determine the coordinates of three adjacent points adjacent to the target vertex as P i+1,j , P i,j+1 and P i+1,j+1 .
[0061] Among them, the P i,j is the point in the i-th row and j-th column in the three-dimensional point cloud data.
[0062] In some embodiments, step S130 includes the following specific steps:
[0063] S131a: When there is one invalid point among the target vertex and three adjacent points, the remaining three points form a triangular face;
[0064] S132a: Determine whether the side lengths of the triangular faces are all less than a side length threshold;
[0065] S133a: When the side lengths of the triangular face are all smaller than the side length threshold, the normal vector of the triangular face is used as the normal vector of the target vertex.
[0066] In some embodiments, step S130 includes the following specific steps:
[0067] S131b: When there is no invalid point among the target vertex and the three adjacent points, construct the target vertex and the three adjacent points into a first group of triangular faces; wherein the first group of triangular faces includes two opposing triangular faces;
[0068] It is important to note that two opposing triangles contain a common edge, but the areas they cover do not overlap.
[0069] S132b: Determine whether the side lengths of the first group of triangular faces are all less than the side length threshold;
[0070] S133b: When the side lengths of the first group of triangular faces are all smaller than the side length threshold, the normal vectors of the first group of triangular faces are used as the normal vectors of the target vertex.
[0071] Exemplarily, the first set of triangular faces includes P i,j , P i,j+1 and P i+1,j+1 The triangle relationship formed, and P i,j , P i+1,j+1 and P i+1,j The relationship between the triangles.
[0072] In some embodiments, step S130 further includes the following specific steps:
[0073] S134b: when there is a side length greater than or equal to the side length threshold in the first group of triangular faces, construct a second group of triangular faces according to the target vertex and three adjacent points;
[0074] For example, the second set of triangular faces includes P i,j , P i,j+1 and P i+1,j The triangle relationship formed, and P i,j+1 , P i+1,j+1 and P i+1,j The relationship between the triangles.
[0075] S135b: Determine whether the side lengths of the second group of triangular faces are all less than the side length threshold;
[0076] S136b: When the side lengths of the second group of triangular faces are all less than the side length threshold, the normal vectors of the second group of triangular faces are used as the normal vectors of the target vertex;
[0077] S137b: When there is an edge length greater than or equal to the edge length threshold in the second group of triangular faces, the normal vector of the first group of triangular faces is used as the normal vector of the target vertex.
[0078] Specifically, the method for calculating the normal vector of the target vertex is: add the two normal vectors in a set of triangles and perform normalization to obtain the normal vector of the target vertex. For example, after adding the two normal vectors in a set of triangles, the normal vector V1 = x, y, z is obtained. Then the normal vector of the target vertex obtained after normalization is
[0079] It should be noted that the target vertex can be used as the vertex of at most 6 triangles, so the normal vector of the target vertex is added at most 6 times and then normalized.
[0080] In some embodiments, the method for determining the edge length threshold includes:
[0081] S210: Determine whether there is an input of a side length threshold;
[0082] S220: When there is no input of the edge length threshold, determining the edge length threshold according to a preset rule based on positions of at least some of the three-dimensional points of the three-dimensional point cloud data.
[0083] As a specific solution, the total number of rows of 3D points in the point cloud data is recorded as cols. When cols is an even number, cols / 2 is used as the starting row. When cols is an odd number, (cols-1) / 2 is used as the starting row. Then, all 3D points in four consecutive rows two rows above and two rows below the starting row are taken out, and the distances between any two adjacent points in these 3D points are added together. Finally, the distance is divided by the total number of points as the edge length threshold, recorded as max_len.
[0084] Below, an example is used to introduce and illustrate the point cloud-based Mesh model construction method provided in an embodiment of the present application.
[0085] like Figure 2 As shown, a point cloud-based Mesh model construction method provided in an embodiment of the present application includes the following steps:
[0086] ST101: Import 3D point cloud data.
[0087] ST102: The points marked as zero and NAN are invalid points, and the remaining valid points are used as vertices of the Mesh model.
[0088] ST103: Determine whether there is a side length threshold (i.e., maximum side length) for a given Mesh model.
[0089] ST104: If the edge length threshold of the Mesh model is not given, the edge length threshold is calculated as follows: let the total number of rows of point cloud data be cols. When cols is an even number, cols / 2 is used as the starting row. When cols is an odd number, (cols-1) / 2 is used as the starting row. Then take out all the 3D points of four consecutive rows two rows above and two rows below the starting row, add up the distances between any two adjacent points among these 3D points, and finally divide by the total number of points as the maximum edge length, recorded as max_len.
[0090] ST105: Select a target vertex P i，j , and obtain three adjacent points P that are in two adjacent rows and two columns with the target vertex i+1，j , P i，j+1 and P i+1，j+1 .
[0091] Note: i，j represents the point in the i-th row and j-th column, P i+1，j represents the point in the i+1th row and jth column, P i，j+1 represents the point in the i-th row and j+1-th column, P i+1，j+1 Represents the point at the i+1th row and j+1th column.
[0092] ST106: Determine P i，j , P i+1，j , P i，j+1 , P i+1，j+1 Are the four points invalid points? If there are more than two invalid points, return to ST105 to calculate the next target vertex.
[0093] ST107: If only one point is an invalid point, the remaining three points automatically form a triangle. If the three sides of the triangle are less than max_len, the triangle is a mesh triangle.
[0094] ST108: If none of them are invalid points, then P i，j , P i，j+1 and P i+1，j+1 and P i，j , P i+1，j+1 and P i+1，j Construct the first set of triangles.
[0095] ST109: Determine whether the side lengths of the two triangles in the first set of triangular faces are both less than max_len. If so, retain the first set of triangular faces as the triangular faces of the target vertices.
[0096] ST110: If at least one edge is longer than max_len, change the triangle relationship to P i，j , P i，j+1 , P i+1，j and P i，j+1 , P i+1，j+1 , P i+1，j Construct the second set of triangular faces; again determine whether the side lengths of the two triangles in the second set of triangular faces are both less than max_len. If there are still sides greater than max_len, retain the first set of triangular faces as the triangular faces of the target vertex; otherwise, use the second set of triangular faces as the triangular faces of the target vertex.
[0097] ST110: Calculate the normal of each triangle face and add it to the normal of the corresponding target vertex as the vertex normal of the Mesh model.
[0098] ST110: Traverse all points and execute steps ST105 to ST110 to complete the construction of the Mesh model.
[0099] like Figure 3 As shown, the present application also provides a point cloud-based Mesh model construction device, comprising:
[0100] A marking module, used for marking invalid points in the three-dimensional point cloud data in response to the input three-dimensional point cloud data;
[0101] A selection module selects a target vertex and three adjacent points according to a preset order;
[0102] The determination module determines the normal vector of the target vertex according to the target vertex and the three neighboring points when the number of invalid points among the target vertex and the three neighboring points is less than 2.
[0103] like Figure 4 As shown, the electronic device 800 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage device 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the electronic device 800 are also stored. The processing device 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.
[0104] Typically, the following devices may be connected to the I / O interface 805: input devices 806 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 807 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 808 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 809. The communication device 809 may allow the electronic device 800 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 4 The electronic device 800 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead. Figure 4 Each block shown in the figure may represent one device, or may represent multiple devices as required.
[0105] In particular, according to some embodiments of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, some embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In some such embodiments, the computer program can be downloaded and installed from the network through the communication device 809, or installed from the storage device 808, or installed from the ROM 802. When the computer program is executed by the processing device 801, the above-mentioned functions defined in the method of some embodiments of the present disclosure are executed.
[0106] It should be noted that the computer-readable medium described above in some embodiments of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.
[0107] In some embodiments of the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device, or device. In some embodiments of the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, device, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.
[0108] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperTextTransferProtocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an adhoc peer-to-peer network), as well as any currently known or future developed network.
[0109] The computer-readable medium may be included in the electronic device, or may exist independently without being installed in the electronic device. The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: responds to the input three-dimensional point cloud data, marks invalid points in the three-dimensional point cloud data; selects the target vertex and its three neighboring points according to a preset order; and determines the normal vector of the target vertex according to the target vertex and the three neighboring points when the number of invalid points in the target vertex and the three neighboring points is less than 2.
[0110] Computer program code for performing the operations of some embodiments of the present disclosure may be written in one or more programming languages or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).
[0111] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, which contains one or more executable instructions for implementing a specified logical function.
[0112] It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures.
[0113] For example, two boxes shown in succession may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of boxes in the block diagram and / or flow chart, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.
[0114] The units described in some embodiments of the present disclosure may be implemented by software or hardware. The units described may also be set in a processor, for example, may be described as: a processor includes a marking module, a selection module and a determination module. The names of these units do not constitute a limitation on the units themselves in some cases, for example, the selection module may also be described as "a unit for selecting a target vertex and three adjacent points thereto according to a preset order".
[0115] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.
[0116] The above descriptions are only some preferred embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) and the technical solutions formed.
Claims
1. A method for constructing a Mesh model based on point cloud, characterized in that: include: In response to input three-dimensional point cloud data, marking invalid points in the three-dimensional point cloud data; Select the target vertex and its three adjacent points according to a preset order; When the number of invalid points among the target vertex and the three neighboring points is less than 2, a normal vector of the target vertex is determined according to the target vertex and the three neighboring points.
2. The point cloud-based Mesh model construction method according to claim 1, characterized in that: The invalid point includes at least one of a zero point and a NAN point.
3. The point cloud-based Mesh model construction method according to claim 1, characterized in that: The step of selecting the target vertex and three adjacent points thereto according to a preset order includes: Determine the coordinates of the target vertex as P i,j ; Determine the coordinates of the three neighboring points adjacent to the target vertex as P i+1,j , P i,j+1 and P i+1,j+1 . Among them, the P i,j is the point in the i-th row and j-th column in the three-dimensional point cloud data.
4. The method for constructing a Mesh model based on point cloud according to claim 1, characterized in that: When the number of invalid points among the target vertex and the three neighboring points is less than 2, determining the normal vector of the target vertex according to the target vertex and the three neighboring points includes: In the case where there is an invalid point among the target vertex and the three adjacent points, the remaining three points form a triangular face; Determine whether the side lengths of the triangular faces are all less than a side length threshold; When the side lengths of the triangular face are all smaller than the side length threshold, the normal vector of the triangular face is used as the normal vector of the target vertex.
5. The method for constructing a Mesh model based on point cloud according to claim 1, characterized in that: When the number of invalid points among the target vertex and the three neighboring points is less than 2, determining the normal vector of the target vertex according to the target vertex and the three neighboring points includes: In the case that there are no invalid points among the target vertex and the three adjacent points, construct the target vertex and the three adjacent points into a first group of triangular faces; wherein the first group of triangular faces includes two opposing triangular faces; Determine whether the side lengths of the first group of triangular faces are all less than the side length threshold; When the side lengths of the first group of triangular faces are all smaller than the side length threshold, the normal vectors of the first group of triangular faces are used as the normal vectors of the target vertex.
6. The method for constructing a Mesh model based on point cloud according to claim 5, characterized in that: When the number of invalid points among the target vertex and the three neighboring points is less than 2, determining the normal vector of the target vertex according to the target vertex and the three neighboring points further includes: When there is an edge length greater than or equal to the edge length threshold in the first group of triangular faces, construct a second group of triangular faces according to the target vertex and three adjacent points; Determine whether the side lengths of the second group of triangular faces are all less than the side length threshold; When the side lengths of the second group of triangular faces are all less than the side length threshold, the normal vectors of the second group of triangular faces are used as the normal vectors of the target vertex; When the second group of triangular faces has a side length greater than or equal to the side length threshold, the normal vector of the first group of triangular faces is used as the normal vector of the target vertex.
7. The point cloud-based Mesh model construction method according to any one of claims 4 to 6, characterized in that: The method for determining the edge length threshold comprises: Determine whether there is an input of edge length threshold; When there is no input of the edge length threshold, the edge length threshold is determined according to a preset rule based on the positions of at least some of the three-dimensional points of the three-dimensional point cloud data.
8. A point cloud-based Mesh model construction device, comprising: A marking module, used for marking invalid points in the three-dimensional point cloud data in response to the input three-dimensional point cloud data; A selection module selects a target vertex and three adjacent points according to a preset order; The determination module determines the normal vector of the target vertex according to the target vertex and the three neighboring points when the number of invalid points among the target vertex and the three neighboring points is less than 2.
9. An electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon; When the one or more programs are executed by the one or more processors, the processors implement the method according to any one of claims 1 to 7.
10. A computer readable medium having a computer program stored thereon, wherein: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.