Scanning processing method and related device

Abstract

Embodiments of the present application provide a scanning processing method and a related device. The method comprises: determining an initial facial model corresponding to a target object; acquiring a tooth model corresponding to the target object; integrating the tooth model into the initial facial model to obtain a target facial model; and displaying the target facial model or the tooth model on the basis of a preset display mode or a display mode selected by a user. The present application can improve the scanning efficiency.

Description

Scanning processing method and related device

[0001] The present disclosure claims priority to the Chinese patent application No. 202411996580.4, filed on December 31, 2024, and entitled "Scanning processing method and related device", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application belongs to the technical field of three-dimensional scanning, and particularly relates to a scanning processing method and related device. BACKGROUND

[0003] Three-dimensional scanning technology has a wide application prospect in automatic driving, robot autonomous navigation, cultural relic protection, architectural design, clinical medical treatment, etc. For example, three-dimensional scanning technology can be applied to smile design, simulation orthodontics, etc. By accurately splicing the mouth scanning data to the face scanning data, the effect of linkage of face scanning data and mouth scanning data is achieved, which serves as a reference basis for later orthodontic diagnosis and treatment, medical aesthetics, etc.

[0004] In the related art, a three-dimensional tooth model of a patient can be generated by an oral scanner (e.g., an oral digital impression instrument), a three-dimensional face model of the patient can be generated by a face scanner, and the splicing process of the three-dimensional tooth model and the complete three-dimensional face data can be displayed on a display. However, when the above method is applied to an actual scene, the line of sight of the dentist needs to be switched back and forth between the patient and the screen, which affects the fluency of scanning and leads to low scanning efficiency. SUMMARY

[0005] Embodiments of the present application provide a scanning processing method and related device to solve the problem of low scanning efficiency caused by line-of-sight switching.

[0006] In a first aspect, embodiments of the present application provide a scanning processing method applied to a head-mounted device, the scanning processing method comprising: determining an initial face model corresponding to a target object. Obtaining a tooth model corresponding to the target object. Splicing the tooth model into the initial face model to obtain a target face model. Displaying the target face model and / or the tooth model based on a preset or user-selected display mode.

[0007] In an embodiment, the initial face model corresponding to the target object is obtained by at least one of the following: collecting a face image corresponding to the target object, and generating the initial face model according to the face image; receiving a face image collected by a face scanning device, and generating the initial face model according to the face image; receiving a face image collected by a face scanning device, and transmitting the face image to a computer device, so that the computer device generates the initial face model according to the face image; receiving an initial face model generated by a computer device; transmitting a face image collected by a face scanning device to a computer device, so that the computer device generates the initial face model according to the face image; and receiving an initial face model generated by a computer device.

[0008] In an embodiment, the tooth model corresponding to the target object is obtained by at least one of the following: receiving a plurality of tooth images collected by an oral scanner in a wired or wireless manner, and generating the tooth model according to the plurality of tooth images; receiving a plurality of tooth images collected by an oral scanner in a wired or wireless manner, and transmitting the plurality of tooth images to a computer device, so that the computer device generates the tooth model according to the plurality of tooth images; receiving a tooth model generated by a computer device; transmitting a plurality of tooth images collected by an oral scanner to a computer device, so that the computer generates the tooth model according to the plurality of tooth images; and receiving a tooth model generated by a computer device.

[0009] In an embodiment, the tooth model is spliced into the initial face model to obtain a target face model, including: determining a tooth region corresponding to the initial face model; determining target tooth model data corresponding to the tooth region in the tooth model; and splicing the tooth model into the initial face model based on the target tooth model data to obtain the target face model.

[0010] In an embodiment, the tooth region corresponding to the initial face model is determined by at least one of the following: determining a lip line position corresponding to the initial face model based on a preset face recognition model; and determining the tooth region corresponding to the initial face model according to the lip line position.

[0011] In an embodiment, the tooth model is spliced into the initial face model based on the target tooth model data to obtain a target face model, including: determining an alignment result of the tooth region of the initial face model and the tooth model based on a first alignment model and the target tooth model data; and obtaining the target face model based on a second alignment model and the alignment result.

[0012] In an embodiment, the target face model or tooth model is displayed based on a preset or user-selected display mode. If the display mode is a two-dimensional mode, the target face model and / or tooth model is displayed in a display of the head-mounted device. If the display mode is a three-dimensional mode, movement information and / or rotation information of the head-mounted device is determined. Based on the movement information and / or rotation information, the target face model and / or tooth model is superimposed and displayed at a position of the target object. If the display mode is a mixed mode, the target face model and / or tooth model is displayed in the display of the head-mounted device, and the movement information and / or rotation information of the head-mounted device is determined. Based on the movement information and / or rotation information, the target face model and / or tooth model is superimposed and displayed at the position of the target object.

[0013] In an embodiment, the target face model and / or tooth model is displayed based on a preset or user-selected display mode. The target face model and / or tooth model is displayed by the head-mounted device. Alternatively, the target face model and / or tooth model is transmitted to a computer device, so that the target face model and / or tooth model is displayed by the computer device.

[0014] In an embodiment, the head-mounted device includes a display including a plurality of mode controls. The method further includes determining a line-of-sight position of a user corresponding to the head-mounted device. A target mode control corresponding to the line-of-sight position is determined. A display mode corresponding to the target mode control is determined according to a preset correspondence between the mode controls and the display modes. In response to an operation of the user, the target face model and / or tooth model is displayed based on the determined display mode.

[0015] In a second aspect, an embodiment of the present application provides a scanning processing apparatus applied to a head-mounted device. The scanning processing apparatus includes: a face model determination module configured to determine an initial face model corresponding to a target object; a tooth model determination module configured to obtain a tooth model corresponding to the target object; a tooth model splicing module configured to splice the tooth model into the initial face model to obtain a target face model; and a face model display module configured to display the target face model based on a preset display mode.

[0016] In a third aspect, an embodiment of the present application provides a head-mounted device including a processor and a memory. The memory stores a computer program. When the computer program is executed by the processor, the processor executes any of the scanning processing methods.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium. The storage medium stores a computer program. When the computer program is executed by a processor, the scanning processing method is implemented.

[0018] The scanning processing method provided in the embodiments of the present application is applied to a head-mounted device, an initial face model corresponding to a target object is determined, a tooth model corresponding to the target object is acquired, the tooth model is spliced into the initial face model to obtain a target face model, and the target face model and / or the tooth model is displayed based on a preset or user-selected display mode. The above method can determine the initial face model and the tooth model of the target object through the head-mounted device, splice the tooth model into the initial face model to obtain the target face model, and display the target face model and / or the tooth model through the head-mounted device, thereby avoiding the problem of frequent switching of the operator's line of sight and improving the scanning efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] FIG. 1 is a schematic diagram of an application scenario of the scanning processing method provided in the embodiments of the present application.

[0021] FIG. 2 is a schematic flowchart of the scanning processing method provided in the embodiments of the present application.

[0022] FIG. 3 is a schematic diagram of a scenario of tooth image acquisition provided in the embodiments of the present application.

[0023] FIG. 4 is a flowchart of a target face model determination method provided in the embodiments of the present application.

[0024] FIG. 5 is a flowchart of a tooth region determination method provided in the embodiments of the present application.

[0025] FIG. 6 is a flowchart of a target face model determination method provided in the embodiments of the present application.

[0026] FIG. 7 is a structural schematic diagram of a scanning processing apparatus provided in the embodiments of the present application.

[0027] FIG. 8 is an application device diagram of the scanning processing method provided in the embodiments of the present application. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0029] The terms "first", "second", etc. are used only for the purpose of description and do not connote or imply relative importance or refer to the number of the features. Thus, features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described as "exemplary" or "for example" in the present application is not necessarily to be construed as preferred or advantageous over other embodiments or designs.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. It is understood that "at least one" means one or more. "Plural" means two or more. For example, at least one of a, b, or c can mean: a, b, c, a and b, a and c, b and c, or a, b, and c.

[0031] Three-dimensional scanning technology has wide application prospects in automatic driving, robot autonomous navigation, cultural relic protection, architectural design, clinical medical treatment, etc. For example, three-dimensional scanning technology can be applied to smile design, simulation orthodontics, etc. By accurately splicing the mouth scanning data to the face scanning data, the effect of linkage between the face scanning data and the mouth scanning data is achieved, which serves as a reference basis for later orthodontic diagnosis and treatment, medical aesthetics, etc.

[0032] In the related art, an oral medical scene usually includes a computer terminal, an oral digital impression instrument, and a face scanner, and the oral digital impression instrument and the face scanner are both connected to the computer terminal. A dentist needs to place the display of the computer terminal at a reasonable position according to the relative position of the dentist and a patient. For example, if the dentist scans in front of the patient, the display can be placed behind the patient, and the operation view angle is set to “in front of the patient”. A three-dimensional tooth model of the patient is generated by the oral digital impression instrument, and a three-dimensional face model of the patient is generated by the face scanner. Since the data range obtained by the scanning head each time is small, generally only one to two teeth, continuous multiple data acquisition is required, and there must be an overlapping part between the front and rear data, so that the three-dimensional tooth model can be spliced. During the scanning process, the dentist needs to observe the splicing result of the three-dimensional face model and the three-dimensional tooth model in the display, and also needs to observe the actual scanning position in the patient's mouth. The dentist's line of sight needs to be switched back and forth, which affects the smoothness of the scanning and leads to low scanning efficiency. Moreover, the dentist needs to operate the oral digital impression instrument and the mouse and keyboard of the computer terminal at the same time to realize data viewing and software interaction, which leads to low scanning efficiency and increases the possibility of cross infection. In addition, the dentist also needs to switch the oral digital impression instrument and the face scanning device, which is complex to operate and leads to low scanning efficiency.

[0033] Therefore, it is necessary to provide a scanning processing method, which can avoid the problem of low scanning efficiency caused by line-of-sight switching and complex interaction mode.

[0034] FIG. 1 is a schematic diagram of an application scenario of a scanning processing method provided by an embodiment of the present application. As shown in FIG. 1, the application scenario of the scanning processing method includes a head-mounted device 10 and an oral scanner 20, and the head-mounted device 10 and the oral scanner 20 are connected through a network. The head-mounted device 10 corresponds to a first scanning field of view, and the oral scanner 20 corresponds to a second scanning field of view. The first scanning field of view is larger than the second scanning field of view, and the first scanning field of view and the second scanning field of view can be set according to actual needs, which is not limited herein.

[0035] In some embodiments, the head-mounted device 10 can represent a device with image acquisition function, data processing function, image display function and interaction function, for example, the head-mounted device 10 can include a VisionPro or similar device. The head-mounted device 10 provides basic hardware and computing resources required for three-dimensional modeling, for example, the head-mounted device 10 can include a multi-view camera, a laser radar, a structured light scanning component, a processor and a display, etc. The head-mounted device 10 can acquire a two-dimensional facial image of a user, reconstruct the two-dimensional facial image to obtain a three-dimensional facial model, and display at least one of the two-dimensional facial data or the three-dimensional facial model. In an actual scenario, a user (for example, a doctor) can wear the head-mounted device 10, and a target object (for example, a patient) can open his mouth. The head-mounted device 10 can acquire facial data of the target object and display a facial model containing tooth data.

[0036] In some embodiments, the oral scanner 20 can represent a device with a small scanning field of view, for example, the oral scanner 20 can be an oral digital impression device. The oral digital impression device can include a scanning head and a body. In use, the scanning head can be inserted into the oral cavity of a target object to scan the structure and shape of the teeth inside the oral cavity of the target object. The oral digital impression device can acquire tooth images of partial teeth in the oral cavity of the target object, and obtain a partial or whole three-dimensional tooth model in the oral cavity of the target object through multiple acquisitions and three-dimensional reconstruction. The number of teeth that can be acquired by the oral digital impression device at one time can be 1 or 2, which is not limited herein.

[0037] In some embodiments, the head-mounted device 10 and the oral scanner 20 can be connected through a network. The network is a medium for providing a communication link between the head-mounted device 10 and the oral scanner 20. The network can include various connection types, for example, a wired communication link, a wireless communication link, etc., which are not limited in the embodiments of the present application.

[0038] In the first embodiment, the head-mounted device 10 acquires an initial facial model containing tooth data of a target object with a large scanning field of view, the oral scanner 20 acquires multiple two-dimensional tooth images (for brevity, referred to as “tooth images” herein) in the oral cavity of the target object with a small scanning field of view, and transmits the multiple tooth images to the head-mounted device 10. The head-mounted device 10 determines a tooth model according to the multiple tooth images, splices the tooth model into the initial facial model, obtains and displays a target facial model, so that a user can observe the splicing process of the three-dimensional tooth model and the actual scanning position in the oral cavity of the target object through the head-mounted device 10. In an actual scenario, the user can determine that the head-mounted device displays only virtual content, only real content, or both virtual content and real content through gestures, operation controls, eye rotation and other interaction methods.

[0039] In the second embodiment, the application scenario of the scanning processing method can also include the head-mounted device 10, the oral scanner 20, and a computer device (not shown), wherein the computer device has a data processing function and can include but is not limited to any electronic product that can interact with a user through a keyboard, a mouse, a remote controller, a touchpad, or a voice control device, such as a personal computer, a tablet computer, a smart phone, and the like. The head-mounted device 10 and the oral scanner 20 are connected to the computer device through a network. For example, the oral scanner 20 acquires a plurality of two-dimensional tooth data (referred to as "tooth image" for brevity) in the oral cavity of the target object through a small scanning field of view, and transmits the plurality of tooth images to the computer device. The computer device determines a tooth model according to the plurality of tooth images. The head-mounted device 10 acquires an initial facial model containing tooth data of the target object through a large scanning field of view, and transmits the initial facial model to the computer device. The computer device splices the tooth model into the initial facial model to obtain a target facial model, and transmits the target facial model to the head-mounted device 10, so that the user can observe the splicing process of the three-dimensional tooth model and the actual scanning position in the oral cavity of the target object through the head-mounted device 10. The embodiment of the present application is described by taking the first embodiment as an example.

[0040] In the above application scenario, the initial facial model and the tooth model of the target object are determined through the head-mounted device, the tooth model is spliced into the initial facial model to obtain the target facial model, and the target facial model is displayed through the head-mounted device, which can avoid the problem of frequent switching of the operator's line of sight, and improve the scanning efficiency. In addition, the above application scenario replaces the facial scanning device with the head-mounted device, which can avoid the problem of switching the facial scanning device and the oral scanner, reduce the operation complexity, and improve the scanning efficiency. Furthermore, the head-mounted device provides interactive methods such as gestures, operation controls, and eye rotation, which can simplify the interaction complexity and improve the scanning efficiency.

[0041] The technical solutions of the present application will be described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described in detail in some embodiments.

[0042] FIG. 2 is a schematic flowchart of the scanning processing method provided by the embodiment of the present application. As shown in FIG. 2, the scanning processing method is applied to a head-mounted device (for example, the head-mounted device 10 in FIG. 1), and includes the following steps:

[0043] S11, acquiring an initial facial model corresponding to a target object.

[0044] In at least one embodiment of the present application, the target object can include a person, an animal, or the like, which needs to be treated in the oral cavity. The initial face model corresponding to the target object can be obtained by at least one of the following: collecting a face image corresponding to the target object by the head-mounted device, and generating the initial face model according to the face image. Alternatively, receiving a face image collected by a face scanning device through the head-mounted device, and generating the initial face model according to the face image. Alternatively, receiving a face image collected by a face scanning device through the head-mounted device, and transmitting the face image to a computer device, so that the computer device generates the initial face model according to the face image. Receiving the initial face model generated by the computer device through the head-mounted device. Alternatively, transmitting the face image collected by the face scanning device to the computer device, so that the computer device generates the initial face model according to the face image. Receiving the initial face model generated by the computer device through the head-mounted device. The embodiments of the present application are described by taking the face image corresponding to the target object collected by the head-mounted device and the initial face model generated according to the face image as an example.

[0045] In some embodiments, when shooting, the lips of the target object are open, so that the head-mounted device can collect part of the tooth data when collecting the face image. The number of teeth scanned by the head-mounted device can be 4, 5, 6, etc., which is not limited herein. In some embodiments, the head-mounted device includes a multi-view shooting device, which can be 2 or more than 2. The embodiments of the present application are described by taking the number of shooting devices as 2 as an example, for example, the head-mounted device includes a first shooting device and a second shooting device. The face of the target object is shot by using the first shooting device and the second shooting device, and a plurality of sets of synchronous images are obtained. The synchronous image can represent an image sequence collected by the first shooting device and the second shooting device at the same shooting time. The head-mounted device can obtain the initial face model by reconstructing the plurality of sets of synchronous images.

[0046] In some embodiments, the image captured by the first photographing device is taken as the first image, and the image captured by the second photographing device is taken as the second image. By identifying facial feature points, such as a nose tip, a nose root, a chin, a mouth center, a left corner of the mouth, a left outer corner of the eye, and a right inner corner of the eye, each facial feature point appears in both the first image and the second image. The point of the facial feature point projected in the first image is taken as a first image point, and the point of the facial feature point projected in the second image is taken as a second image point. The image point coordinates of the first image point and the second image point are determined as the image point coordinates corresponding to the facial feature point, respectively. In some embodiments, based on the preset calibration data and the image point coordinates, the three-dimensional coordinates of the facial feature point corresponding to the image point coordinates can be reconstructed by using the method of epipolar matching, and based on the three-dimensional coordinates of the facial feature points, the initial facial model of the target object can be determined. The preset calibration data can include the intrinsic parameters of each photographing device and the extrinsic parameters between the photographing devices, wherein the intrinsic parameters are a set of parameters describing the internal properties of the photographing device, which are crucial for accurately interpreting the scanning data. The parameters usually include internal orientation elements, distortion coefficients, horizontal and vertical pixel sizes, and horizontal and vertical pixel size ratios, etc. The extrinsic parameters can include a rotation matrix and a translation vector, which are used to define the transformation relationship of the camera coordinate system relative to the world coordinate system. The accuracy of the extrinsic parameters directly determines the mapping accuracy from the image data to the actual physical world.

[0047] In some embodiments, after the head-mounted device captures the facial image of the target object, the method further comprises: detecting whether the facial image meets the preset requirement. If the detection result is that the facial image meets the preset requirement, the facial image is saved, and the initial facial model corresponding to the facial image is determined. If the detection result is that the facial image does not meet the preset requirement, the facial image is not used, and the facial image is acquired again by the head-mounted device. In some embodiments, the facial image can be deleted, and in other embodiments, the facial image can be saved but not used for reconstruction. The preset requirement can include but is not limited to a definition requirement, a brightness requirement, and a key information requirement, etc. When the definition of the facial image meets the preset definition threshold, the brightness requirement meets the preset brightness range, and the key information is not missing (for example, the tooth information is not missing), it is determined that the facial image meets the preset requirement. When any of the definition requirement, the brightness requirement, and the key information requirement is not met, it is determined that the facial image does not meet the preset requirement. The definition threshold, the brightness range, and the key information can be set according to actual needs, which are not limited herein.

[0048] S12, acquiring a tooth model corresponding to the target object.

[0049] In at least one embodiment of the present application, the tooth model corresponding to the target object is obtained, including at least one of the following: receiving a plurality of tooth images collected by an oral scanner through a head-mounted device in a wired or wireless manner, and generating a tooth model according to the plurality of tooth images. Alternatively, receiving a plurality of tooth images collected by an oral scanner through a head-mounted device in a wired or wireless manner, and transmitting the plurality of tooth images to a computer device, so that the computer device generates a tooth model according to the plurality of tooth images. Receiving the tooth model generated by the computer device through the head-mounted device. Alternatively, transmitting the plurality of tooth images collected by the oral scanner to the computer device, so that the computer generates a tooth model according to the plurality of tooth images. Receiving the tooth model generated by the computer device through the head-mounted device. The embodiments of the present application are described by taking the example of receiving a plurality of tooth images collected by an oral scanner through a head-mounted device in a wired or wireless manner, and generating a tooth model according to the plurality of tooth images.

[0050] In some embodiments, the tooth image can represent two-dimensional tooth data obtained by the oral scanner using a smaller scanning field of view, and the number of teeth collected by the oral scanner can be set according to actual needs, and the number of teeth scanned by the oral scanner is less than or equal to the number of teeth scanned by the head-mounted device, for example, the number of teeth scanned by the oral scanner can be 1, 2, etc. The tooth model can be three-dimensional tooth data containing a plurality of teeth. The tooth image of the local tooth in the oral cavity of the target object is collected by the oral scanner to obtain a plurality of tooth images, and the plurality of tooth images are transmitted to the head-mounted device for reconstruction and splicing processing by the head-mounted device to obtain the tooth model corresponding to the target object.

[0051] In some embodiments, the tooth model can be three-dimensional data of the outer surface of the tooth, or three-dimensional data of the inner surface of the tooth, or three-dimensional data containing both the inner surface and the outer surface of the tooth, which is not limited by the present application. The outer surface of the tooth can represent the tooth surface close to the lip side, and the inner surface of the tooth can represent the tooth surface close to the tongue side.

[0052] In some embodiments, when the plurality of tooth images of the local tooth are obtained by the oral scanner, the oral scanner can start from a first scanning position and scan according to a specified movement speed and a tooth scanning path to obtain the plurality of tooth images. The movement speed and the tooth scanning path can be set according to actual needs, which is not limited herein. The tooth scanning path can include a tooth scanning direction and a tooth scanning number, and the tooth scanning direction can include a clockwise direction and a counterclockwise direction. The first scanning position and the tooth scanning path can be set according to actual needs.

[0053] In some embodiments, when scanning the plurality of tooth images of the target object, the upper teeth, the lower teeth and the occlusion data of the upper teeth and the lower teeth of the target object can be scanned respectively, and the scanning sequence can be set according to actual requirements. For example, the upper teeth can be scanned first, then the lower teeth, and then the occlusion data of the upper teeth and the lower teeth. Scanning the upper teeth and the lower teeth in the clenched state can obtain the occlusion data. The scene diagram of the tooth image acquisition provided by the embodiments of the present application is described in combination with FIG. 3, which takes the scanning of the lower teeth by the oral scanner as an example. As shown in FIG. 3, the first scanning position is the rightmost tooth of the lower teeth, the tooth scanning path is the clockwise direction (as indicated by the arrow in FIG. 3), and the tooth scanning number is 16. Based on this, the oral scanner starts from the rightmost tooth of the lower teeth and scans 16 teeth in the clockwise direction to obtain a plurality of tooth images.

[0054] In some embodiments, after the head-mounted device receives the tooth image, the method further comprises: detecting whether the tooth image meets the preset requirement, if the detection result is that the tooth image meets the preset requirement, saving the tooth image and determining the initial tooth model corresponding to the tooth image. If the detection result is that the tooth image does not meet the preset requirement, the tooth image is not used, and a prompt information is sent to the oral scanner to acquire the tooth image again through the oral scanner. In some embodiments, the face image can be deleted, and in other embodiments, the face image can be saved but not involved in the reconstruction. The prompt information is used to prompt the user to reacquire the tooth image of a certain area in the oral cavity of the target object. The preset requirement can include but is not limited to the clarity requirement, the brightness requirement and the key information requirement, etc. When the clarity of the tooth image meets the preset clarity threshold, the brightness requirement meets the preset brightness range, and the key information is not missing (for example, the tooth surface information and the tooth contour shape are not missing), it is determined that the tooth image meets the preset requirement. When any of the clarity requirement, the brightness requirement and the key information requirement is not met, it is determined that the tooth image does not meet the preset requirement. The clarity threshold, the brightness range and the key information can be set according to actual requirements, which are not limited herein.

[0055] S13, splicing the tooth model into the initial face model to obtain a target face model.

[0056] In at least one embodiment of this application, the initial facial model can be a three-dimensional model of a complete face, including lips, and the lips include an upper lip and a lower lip. The lips in the initial facial model are identified, and lip line positions that completely surround all the teeth displayed on the initial facial model are extracted from the lips. The area surrounded by the lip line positions is defined as the tooth region of the initial facial model. In some embodiments, a tooth model is stitched to the tooth region of the initial facial model to obtain a target facial model, which contains more tooth details.

[0057] S14, based on a preset or user-selected display mode, displays the target facial model and / or teeth model.

[0058] In at least one embodiment of this application, the display mode may include a two-dimensional mode, a three-dimensional mode, and a hybrid mode, wherein the hybrid mode means that it simultaneously includes both two-dimensional and three-dimensional modes. When the display mode is two-dimensional, one or more of a two-dimensional facial image (hereinafter referred to as "target facial image"), a target facial model, and a tooth model can be displayed on the head-mounted device's display. When the display mode is three-dimensional, the movement information and / or rotation information of the head-mounted device can be determined. Based on the movement information and / or rotation information, the target facial model and / or tooth model are adjusted to be superimposed on the target object at their respective positions. When the display mode is hybrid, the target facial image, the target facial model, and / or tooth model can be displayed on the head-mounted device's display, and the movement information and / or rotation information of the head-mounted device can be determined. Based on the movement information and / or rotation information, the target facial model and / or tooth model are adjusted to be superimposed on the target object at their respective positions. The positions of the target facial image, the target facial model, and the tooth model on the display can be set according to actual needs and are not limited herein. In some embodiments, the position of the target facial model and / or tooth model superimposed on the target object may include the face position, the tooth position, or other preset positions. In practical applications, users of head-mounted devices (such as doctors) will move a distance or rotate an angle according to scanning needs. The movement distance of the head-mounted device is monitored in real time as movement information, and the rotation angle as rotation information. Based on the movement and / or rotation information, the position of the target facial model and / or dental model superimposed on the target object is adjusted so that the position of the target facial model and / or dental model superimposed on the target object does not change significantly with the user's movement or rotation. This facilitates oral cavity processing based on the displayed target facial model and / or dental model.

[0059] In some embodiments, based on the preset or user-selected display mode, displaying the target face model and / or tooth model further comprises: displaying the target face model and / or tooth model through the head-mounted device. Alternatively, the target face model and / or tooth model is transmitted to a computer device, so that the target face model and / or tooth model is displayed through the computer device. The target object (e.g., a patient) can view the target face model and / or tooth model by wearing the head-mounted device. In addition, the head-mounted device can also be connected with the computer device, and the head-mounted device can transmit the target face model and / or tooth model to the computer device, so that the target object (e.g., a patient) views the target face model and / or tooth model on the computer device. The computer device can be a device with image display function, for example, the computer device can include but is not limited to a personal computer, a tablet computer, a smart phone, a digital camera, etc.

[0060] In the scanning processing method provided in the embodiments of the present application, the initial face model and tooth model of the target object are determined through the head-mounted device, the tooth model is spliced into the initial face model to obtain the target face model, and the target face model and / or tooth model is displayed through the head-mounted device, which can avoid the problem of frequent switching of the operator's line of sight and improve the scanning efficiency.

[0061] In at least one embodiment of the present application, the head-mounted device is connected to the oral scanner in communication, so that the oral scanner can transmit the collected multiple frames of tooth images to the head-mounted device. The method further comprises: determining the wireless network identifier of the head-mounted device, taking the device corresponding to the wireless network identifier as the oral scanner, or taking the device with the same wireless network identifier as the oral scanner. Or taking the device connected to the head-mounted device through the data line as the oral scanner. The multiple frames of tooth images of the target object are received from the oral scanner. Wherein, the wireless network identifier can be used to represent the network information connected by the head-mounted device, for example, a hotspot. In some embodiments, the oral scanner can provide a hotspot, such as the oral scanner comprising a scanner main body and an oral scanner base, the oral scanner base providing a hotspot, or the oral scanner comprising a scanner main body, the scanner main body providing a hotspot, the head-mounted device connecting to the hotspot, so that the oral scanner and the head-mounted device are in the same local area network, and the oral scanner and the head-mounted device can communicate data. In other embodiments, the hotspot can be provided by a third-party device, and the head-mounted device and the oral scanner are connected to the hotspot, so that the oral scanner and the head-mounted device are in the same local area network, and the oral scanner and the head-mounted device can communicate data. In other embodiments, the head-mounted device and the oral scanner can be connected through a data line, so that the oral scanner and the head-mounted device can communicate data. The data line can include a charging line or other special data line for communication. The embodiments of the present application place the head-mounted device and the oral scanner in the same local area network or connect the head-mounted device and the oral scanner through the data line, so that the head-mounted device and the oral scanner communicate data.

[0062] In at least one embodiment of this application, after receiving a scanned tooth image, the head-mounted device needs to reconstruct the tooth image and promptly stitch the reconstructed three-dimensional tooth data together, achieving simultaneous scanning and stitching to obtain a tooth model. Specifically, the stitching process is based on the shape features of the teeth, such as stitching based on the similarity of tooth shape features. Shape features can include the tooth contour shape and surface information, and can be obtained through methods such as Signature of Histograms of Orientations (SHOT) and / or Fast Point Feature Histograms (FPFH). The specific content of SHOT and FPFH can be found in related technologies and will not be elaborated here. The above method, by employing a method of determining the stitching position while scanning, can improve the efficiency of tooth model determination, thereby improving the efficiency of scanning processing. In other embodiments, a method of scanning first and then determining the stitching position can be adopted. During scanning, multiple frames of tooth images are first ensured to meet preset requirements. Then, the multiple frames of tooth images are reconstructed using a head-mounted device, and the reconstructed 3D tooth data is stitched together. This achieves scanning first and then stitching to obtain a tooth model. The above method, by adopting the method of scanning first and then determining the stitching position, ensures that multiple frames of tooth images meet preset requirements during scanning, avoiding the need for re-acquiring due to tooth images not meeting preset requirements during stitching, thus improving stitching efficiency.

[0063] In at least one embodiment of this application, by stitching a tooth model into an initial facial model, a target facial model containing more tooth details can be obtained. Figure 4 is a schematic flowchart of the target facial model determination method provided in an embodiment of this application, which is applied to a head-mounted device. As shown in Figure 4, the method includes the following steps:

[0064] S21, Determine the tooth region corresponding to the initial facial model.

[0065] In at least one embodiment of this application, a preset face recognition algorithm can be used to perform face recognition on an initial facial model to obtain various regions corresponding to the face, such as the eye region, nose region, lip region, and teeth region. The teeth region may include the upper teeth region, the lower teeth region, or the entire teeth region.

[0066] S22, Determine the target tooth model data corresponding to the tooth region in the tooth model.

[0067] In at least one embodiment of this application, the tooth model includes all teeth collected by an oral scanner. Some teeth in the tooth model are within the tooth region, while others are not. By filtering the tooth model, target tooth model data corresponding to the tooth region can be obtained.

[0068] In some embodiments, by determining a first shape feature corresponding to a single tooth in a dental model and determining a shape feature (hereinafter referred to as "second shape feature") within a tooth region in an initial facial model, and comparing the second shape feature with the first shape feature, target tooth model data corresponding to a tooth region can be selected from the dental model. In some embodiments, determining the target tooth model data corresponding to a tooth region in a dental model includes: selecting edge teeth from the tooth region and determining edge tooth features corresponding to the edge teeth. The dental model is traversed based on the edge tooth features to determine the target tooth model data. The edge teeth may include upper edge teeth and lower edge teeth. Upper edge teeth may include teeth located at the edge of the upper tooth region, and the number of upper edge teeth is at least two. Lower edge teeth may include teeth located at the edge of the lower tooth region, and the number of lower edge teeth is at least two. The edge tooth features may represent the shape features corresponding to the edge teeth; for example, the edge tooth features may include the tooth contour shape and surface information corresponding to the edge teeth. The dental model is traversed based on the edge tooth features to obtain a tooth model aligned with the edge tooth features, and the target tooth model data is determined based on the tooth model aligned with the edge tooth features. For example, taking the upper edge tooth as an example, the edge tooth may include edge tooth T1 and edge tooth T2. The tooth model corresponding to edge tooth T1 and the tooth model corresponding to edge tooth T2 are determined from the tooth model. Since the tooth models are sorted according to the scanning order, all tooth models between the tooth models corresponding to edge tooth T1 and edge tooth T2 are used as the target tooth model data. This embodiment of the application, by determining the tooth region corresponding to the initial facial model and the edge teeth corresponding to the tooth region, and determining the target tooth model data based on the edge tooth features, can reduce the amount of computation and improve the efficiency of determining the target tooth model data.

[0069] In other embodiments, since the edge teeth of the tooth region corresponding to the initial facial model may be obscured by the lips, resulting in insufficient clarity of the edge tooth features, determining the target tooth model data corresponding to the tooth region in the tooth model may further include: selecting target teeth from the tooth region and determining the target shape features and target tooth position corresponding to the target teeth. The number of teeth is determined based on the target tooth position. The tooth model is traversed based on the target shape features and the number of teeth to determine the target tooth model data. Here, a target tooth can represent a tooth with clear and complete shape features within the tooth region. The shape features of each tooth within the tooth region are identified, and at least one tooth with high clarity and completeness is selected as the target tooth. The number of target teeth can be set according to actual needs. Clear and complete shape features can include clear and complete tooth outline shape and clear and complete surface information. The clarity and completeness of the target teeth are related to the acquisition angle corresponding to the initial facial model. Taking the initial facial model obtained by capturing the face of the target object directly in front of the head-mounted device as an example, within the tooth region, the teeth closer to the midline have higher clarity and completeness, while the teeth farther from the midline have lower clarity and completeness. The midline can be a straight line starting from the glabella on the forehead, along the bridge of the nose, the tip of the nose, the philtrum (the small protrusion in the center of the upper lip), and ending at the chin (the tip of the chin). In some embodiments, the target tooth position in the tooth region is determined, and based on the target tooth position, the number of teeth to be selected, in addition to the tooth model aligned with shape features, is determined. For example, taking the upper tooth region as an example, the upper tooth region includes 6 teeth, and one tooth is selected on each side of the midline as the target tooth. Based on this, the number of teeth to be selected can be 4. This embodiment of the application improves the accuracy and efficiency of determining the target tooth model data by determining the tooth region corresponding to the initial facial model and the target teeth corresponding to the tooth region, and determining the target tooth model data based on the target shape features of the target teeth.

[0070] S23, Based on the target tooth model data, the tooth model is stitched into the initial facial model to obtain the target facial model.

[0071] In at least one embodiment of this application, the entire tooth model can be stitched into the initial facial model based on the target tooth model data. When displaying the stitched initial facial model, the entire tooth model may not be displayed; only the tooth model within the area enclosed by the lip line (i.e., the tooth region) may be shown. In other embodiments, the target tooth model data and the tooth region of the initial facial model can be stitched together. The stitching process may employ Iterative Closest Point (ICP) or other stitching algorithms to align the initial facial model and the target tooth model data, resulting in a target facial model that includes tooth details. The target facial model can be understood as a combined model of the initial facial model and the target tooth model data.

[0072] In the scanning processing method provided in this application embodiment, the tooth region corresponding to the initial facial model is determined, the target tooth model data corresponding to the selected tooth region in the tooth model is determined, and the tooth model is stitched into the initial facial model based on the target tooth model data to obtain a target facial model containing tooth details.

[0073] In at least one embodiment of this application, the tooth region is the region surrounded by the lip line. The tooth region can be determined by determining the position of the lip line in the initial facial model. Figure 5 is a schematic flowchart of the tooth region determination method provided in an embodiment of this application, which is applied to a head-mounted device. As shown in Figure 5, the method includes the following steps:

[0074] S31, based on the preset face recognition model, determine the lip line position corresponding to the initial facial model.

[0075] In at least one embodiment of this application, a preset face recognition algorithm can be used to perform face recognition on an initial facial model to obtain various regions corresponding to the face, such as the eye region, nose region, lip region, and teeth region. When determining the teeth region, the lip region corresponding to the initial facial model can be determined first, and the lip region includes the upper lip and lower lip. The lip region in the initial facial model is identified, and the lip line position that completely surrounds all the teeth displayed on the initial facial model is extracted from the lip region.

[0076] S32, based on the lip line position, determine the tooth area corresponding to the initial facial model.

[0077] In at least one embodiment of this application, the lips of the target object should display as many teeth as possible to improve the subsequent orthodontic effect, wherein the area enclosed by the lip line is defined as the tooth area of ​​the initial facial model.

[0078] In the scanning processing method provided in this application embodiment, by determining the lip line position corresponding to the initial facial model and defining the area enclosed by the lip line position as the tooth region of the initial facial model, the accuracy and efficiency of tooth region determination can be improved.

[0079] In at least one embodiment of this application, by aligning the tooth regions of the tooth model and the initial facial model, the entire tooth model can be stitched into the initial facial model. Figure 6 is a schematic flowchart of the target facial model determination method provided in an embodiment of this application, which is applied to a head-mounted device. As shown in Figure 6, the method includes the following steps:

[0080] S41, Based on the data of the first alignment model and the target tooth model, determine the alignment result between the tooth region of the initial facial model and the tooth model.

[0081] In at least one embodiment of this application, the first alignment model can align the tooth region of the initial facial model and the point cloud dataset of the tooth model to a similar spatial position based on the target tooth model data. The input data of the first alignment model are the target tooth model data, the tooth region of the initial facial model, and the tooth model. The output data is the alignment result, which is the result of coarse registration between the tooth region of the initial facial model and the tooth model.

[0082] S42, based on the second alignment model and the alignment result, the target facial model is obtained.

[0083] In at least one embodiment of this application, the tooth region of the tooth model and the initial facial model are finely registered based on a second alignment model, thereby aligning the tooth region of the tooth model and the initial facial model to obtain the target facial model. The second alignment model can be an Iterative Closest Point (ICP) model, where the input data of the second alignment model is the alignment result corresponding to the coarse registration, and the output data is the alignment result corresponding to the fine registration.

[0084] In the scanning processing method provided in this application embodiment, the tooth region of the initial facial model and the tooth model are stitched together by combining the first alignment model and the second alignment model, which can improve the accuracy of the target facial model determination.

[0085] In at least one embodiment of this application, the head-mounted device supports interaction methods such as gestures, operation controls, and eye rotation. Through diverse interaction methods, the complexity of interaction can be reduced and scanning efficiency improved. In some embodiments, the head-mounted device includes a display, which includes multiple mode controls. The method further includes: determining the gaze position of the user corresponding to the head-mounted device; determining the target mode control corresponding to the gaze position; determining the display mode corresponding to the target mode control based on a preset correspondence between mode controls and display modes; and displaying a target facial model and / or a teeth model based on the determined display mode in response to the user's operation. The mode control corresponds to the display mode. When the display mode includes a two-dimensional mode, a three-dimensional mode, and a mixed mode, the corresponding mode control may include a two-dimensional mode control, a three-dimensional mode control, and a mixed mode control. The head-mounted device includes an eye-tracking function. By setting an eye-tracking algorithm within the head-mounted device, the gaze position of the user can be accurately located. By tracking the user's gaze position, it can be determined whether the user's gaze is fixed on the mode control. When the user's gaze is fixed on the mode control, it can be predicted that the user wants to touch the mode control. The operation can be set according to actual needs. When the user's gaze rests on the mode control and the user performs an operation, it can be determined that the user has touched the mode control. This embodiment combines eye tracking and gesture interaction to determine the required display mode for the user, thereby improving the display effect.

[0086] Figure 7 is a schematic diagram of the structure of the scanning processing apparatus provided in an embodiment of this application. As shown in Figure 7, the scanning processing apparatus 100 may include multiple functional modules composed of computer program segments. The computer programs of each program segment in the scanning processing apparatus 100 may be stored in the memory 11 of the head-mounted device 10 and executed by the processor 12 to perform the scanning processing function.

[0087] In some embodiments, the scanning processing device 100 may be divided into multiple functional modules according to the functions it performs. The functional modules may include: a facial model determination module 101, a tooth model determination module 102, a tooth model stitching module 103, and a facial model display module 104.

[0088] The term "module" as used in this application refers to a series of computer program segments that can be executed by the processor 12 and perform a fixed function, and which are stored in the memory 11. In this embodiment, the functions of each module will be described in detail in subsequent embodiments.

[0089] The facial model determination module 101 can be configured to determine the initial facial model corresponding to the target object.

[0090] The tooth model determination module 102 can be configured to obtain the tooth model corresponding to the target object.

[0091] The tooth model stitching module 103 can be configured to stitch the tooth model into the initial facial model to obtain the target facial model.

[0092] The facial model display module 104 can be configured to display a target facial model or teeth model based on a preset or user-selected display mode.

[0093] It is understood that the scanning processing device 100 and the scanning processing method of the above embodiments belong to the same inventive concept. The specific implementation of each module of the scanning processing device 100 corresponds to each step of the scanning processing method in the above embodiments, and will not be repeated here.

[0094] The module division described above is a logical functional division, and other division methods may be used in actual implementation. Furthermore, the functional modules in the various embodiments of this application can be integrated into the same processing unit, or each module can exist physically separately, or two or more modules can be integrated into the same unit. The integrated modules described above can be implemented in hardware or in a combination of hardware and software functional modules.

[0095] Figure 8 is an application device diagram of the scanning processing method provided in the embodiments of this application. As shown in Figure 8, the head-mounted device 10 includes a memory 11, at least one processor 12, and at least one communication bus 13. The processor 12 is configured to implement the scanning processing method when executing a computer program stored in the memory 11, and the at least one communication bus 13 is configured to enable communication between the memory 11 and the processor 12, etc.

[0096] The structure of the scanning device shown in Figure 8 does not constitute a limitation on the embodiments of this application. The head-mounted device 10 may also include more or fewer other hardware or software, or different component arrangements than shown in the figure.

[0097] In some embodiments of this application, the head-mounted device 10 may also be connected to a client device, which includes, but is not limited to, any electronic product that can interact with the user via a keyboard, mouse, remote control, touchpad or voice control device, such as a personal computer, tablet computer, smartphone, digital camera, etc.

[0098] It should be noted that the head-mounted device 10 is merely an example. Other existing or future electronic products that are suitable for this application should also be included within the scope of protection of this application and are incorporated herein by reference.

[0099] In some embodiments, the head-mounted device 10 may also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0100] In some embodiments, the memory 11 stores a computer program, which, when executed by the processor 12, implements all or part of the steps in the scanning processing method described above. The memory 11 includes read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0101] In some embodiments, the computer-readable storage medium may primarily include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program required for at least one function, etc., and the stored data area may store data created based on the use of the head-mounted device 10, etc.

[0102] In some embodiments, at least one processor 12 is the control unit of the head-mounted device 10, connecting various components of the head-mounted device 10 via various interfaces and lines. It executes programs or modules stored in the memory 11 and calls data stored in the memory 11 to perform various functions and process data of the head-mounted device 10. For example, when at least one processor 12 executes a computer program stored in the memory, it implements all or part of the steps of the scanning processing method in the embodiments of this application. Or it implements all or part of the functions of a three-dimensional scanning device. At least one processor 12 may be composed of integrated circuits, such as a single-packaged integrated circuit or multiple integrated circuits with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips.

[0103] The integrated unit implemented as a software functional module described above can be stored in a computer-readable storage medium. This software functional module, stored in a storage medium, includes several instructions to cause an electronic device (which may be a personal computer, electronic device, or network device, etc.) or processor to execute portions of the methods of the various embodiments of this application.

[0104] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0105] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0106] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0107] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other elements or, and the singular does not exclude the plural. Multiple elements or devices recited in the specification may also be implemented by a single element or device in software or hardware. The terms "first," "second," etc., are used to indicate names and do not indicate any particular order.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application. Industrial applicability

[0109] The scanning processing method provided in this application embodiment is applied to a head-mounted device to determine the initial facial model corresponding to the target object. A dental model corresponding to the target object is obtained. The dental model is stitched into the initial facial model to obtain the target facial model. The target facial model and / or dental model are displayed based on a preset or user-selected display mode. This method, by determining the initial facial and dental models of the target object using a head-mounted device, stitching the dental model into the initial facial model to obtain the target facial model, and displaying the target facial and / or dental models using a head-mounted device, avoids the problem of operators frequently switching their gaze, improves scanning efficiency, and has strong industrial applicability.

Claims

1. A scanning processing method applied to a head-mounted device, wherein, The scanning processing method includes: Obtain the initial facial model corresponding to the target object; Obtain the tooth model corresponding to the target object; The tooth model is then spliced ​​into the initial facial model to obtain the target facial model. The target facial model and / or the teeth model are displayed based on a preset or user-selected display mode.

2. The scanning processing method as described in claim 1, wherein, The process of obtaining the initial facial model corresponding to the target object includes at least one of the following: Acquire the facial image corresponding to the target object, and generate the initial facial model based on the facial image; Receive facial images captured by a facial scanning device, and generate the initial facial model based on the facial images; The system receives a facial image captured by the facial scanning device and transmits the facial image to a computer device, so that the computer device generates the initial facial model based on the facial image; and receives the initial facial model generated by the computer device. The facial image acquired by the facial scanning device is transmitted to the computer device, so that the computer device generates the initial facial model based on the facial image; and the computer device receives the initial facial model generated by the computer device.

3. The scanning processing method as described in claim 1, wherein, The step of obtaining the tooth model corresponding to the target object includes at least one of the following: The tooth model is generated based on receiving multiple frames of tooth images captured by an oral scanner via wired or wireless means. The system receives multiple frames of tooth images acquired by the oral scanner via wired or wireless means, transmits the multiple frames of tooth images to a computer device, and enables the computer device to generate the tooth model based on the multiple frames of tooth images; and receives the tooth model generated by the computer device. The oral scanner transmits multiple frames of dental images to the computer device, so that the computer generates the dental model based on the multiple frames of dental images. Receive the tooth model generated by the computer device.

4. The scanning processing method as described in claim 1, wherein, The step of stitching the tooth model into the initial facial model to obtain the target facial model includes: Determine the tooth region corresponding to the initial facial model; Determine the target tooth model data corresponding to the tooth region in the tooth model; The target facial model is obtained by stitching the target tooth model data into the initial facial model.

5. The scanning processing method as described in claim 4, wherein, Determining the tooth region corresponding to the initial facial model includes: Based on a preset face recognition model, the lip line position corresponding to the initial facial model is determined; Based on the lip line position, the tooth region corresponding to the initial facial model is determined.

6. The scanning processing method as described in claim 4, wherein, The step of stitching the tooth model into the initial facial model based on the target tooth model data to obtain the target facial model includes: Based on the first alignment model and the target tooth model data, the alignment result of the tooth region of the initial facial model and the tooth model is determined; The target facial model is obtained based on the second alignment model and the alignment result.

7. The scanning processing method as described in claim 1, wherein, The display of the target facial model and / or the teeth model based on a preset or user-selected display mode includes: If the display mode is a two-dimensional mode, the target facial model and / or the teeth model are displayed on the display of the head-mounted device; If the display mode is a three-dimensional mode, then determine the movement information and / or rotation information of the head-mounted device; based on the movement information and / or the rotation information, adjust the position of the target facial model and / or the teeth model superimposed on the target object; If the display mode is a hybrid mode, the target facial model and / or the teeth model are displayed on the display of the head-mounted device, and the movement information and / or rotation information of the head-mounted device are determined; based on the movement information and / or the rotation information, the position of the target facial model and / or the teeth model superimposed on the target object is adjusted.

8. The scanning processing method as described in claim 1, wherein, The method of displaying the target facial model and / or the teeth model based on a preset or user-selected display mode further includes: The target facial model and / or the teeth model are displayed via the head-mounted device; or The target facial model and / or the teeth model are transmitted to a computer device, and the target facial model and / or the teeth model are displayed through the computer device.

9. The scanning processing method as described in claim 1, wherein, The head-mounted device includes a display, the display including a plurality of mode controls, and the method further includes: Determine the line of sight position of the user corresponding to the head-mounted device; Determine the target mode control corresponding to the line-of-sight position; Based on the preset correspondence between mode controls and display modes, the display mode corresponding to the target mode control is determined; In response to the user's operation, the target facial model and / or the teeth model are displayed based on a determined display mode.

10. A scanning processing device, applied to a head-mounted device, wherein, The scanning processing device includes: The facial model determination module is configured to obtain the initial facial model corresponding to the target object; The tooth model determination module is configured to obtain the tooth model corresponding to the target object; A tooth model stitching module is configured to stitch the tooth model into the initial facial model to obtain a target facial model; The facial model display module is configured to display the target facial model and / or the teeth model based on a preset or user-selected display mode.

11. A head-mounted device, wherein, include: A processor and a memory, wherein the memory stores a computer program that, when executed by the processor, performs the scanning processing method as described in any one of claims 1 to 9.

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