CN111882642A - Texture filling method and device for three-dimensional model - Google Patents
Texture filling method and device for three-dimensional model Download PDFInfo
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Abstract
The application discloses a texture filling method and device of a three-dimensional model, which are applied to electronic equipment, wherein the method comprises the following steps: acquiring a multi-frame two-dimensional image and a reference three-dimensional model of an object to be modeled, wherein the multi-frame two-dimensional image comprises an image of each surface of the object to be modeled, the reference three-dimensional model comprises N triangular patches, and N is a positive integer; selecting M frames of two-dimensional images from the multiple frames of two-dimensional images, wherein M is a positive integer smaller than N; determining the mapping relation between the N triangular patches and the M frames of two-dimensional images; and filling the reference three-dimensional model with textures according to the mapping relation to obtain a target three-dimensional model of the object to be modeled. By adopting the embodiment of the application, the complexity of the texture filling algorithm is favorably reduced, and the power consumption is reduced.
Description
Technical Field
The present application relates to the field of electronic technologies, and in particular, to a method and an apparatus for filling a texture of a three-dimensional model.
Background
Texture mapping is a process of establishing a corresponding relation between a three-dimensional object surface and a two-dimensional image space pixel coordinate, but in order to pursue the texture mapping effect and enhance the reality of a model, many algorithms adopt complex calculations, and the calculations can only be suitable for high-performance desktop-level machines.
At present, even if a simple small object is acquired for only tens of seconds, hundreds of two-dimensional images are obtained, and in addition, in order to accurately reflect the details of the object, hundreds of thousands of triangular panels on the surface of the three-dimensional object are obtained, so that a large amount of calculation is needed during texture mapping, the expected effect cannot be achieved on an embedded platform with limited calculation capacity, namely, the calculation amount and the effect cannot be balanced.
Disclosure of Invention
The embodiment of the application provides a texture filling method and device of a three-dimensional model, so that the complexity of a texture filling algorithm is reduced, and the power consumption is reduced.
In a first aspect, an embodiment of the present application provides a method for filling a texture in a three-dimensional model, which is applied to an electronic device, and the method includes:
acquiring a multi-frame two-dimensional image and a reference three-dimensional model of an object to be modeled, wherein the multi-frame two-dimensional image comprises an image of each surface of the object to be modeled, the reference three-dimensional model comprises N triangular patches, and N is a positive integer
Selecting M frames of two-dimensional images from the multiple frames of two-dimensional images, wherein M is a positive integer smaller than N;
determining the mapping relation between the N triangular patches and the M frames of two-dimensional images;
and filling the reference three-dimensional model with textures according to the mapping relation to obtain a target three-dimensional model of the object to be modeled.
In a second aspect, an embodiment of the present application provides a texture filling apparatus for a three-dimensional model, which is applied to an electronic device, and the texture filling apparatus for the three-dimensional model includes an obtaining unit, a selecting unit, a determining unit, and a filling unit, where:
the acquisition unit is used for acquiring a multi-frame two-dimensional image and a reference three-dimensional model of an object to be modeled, wherein the multi-frame two-dimensional image comprises an image of each surface of the object to be modeled, the reference three-dimensional model comprises N triangular patches, and N is a positive integer;
the selecting unit is used for selecting M frames of two-dimensional images from the multiple frames of two-dimensional images, wherein M is a positive integer smaller than N;
the determining unit is configured to determine a mapping relationship between the N triangular patches and the M frames of two-dimensional images;
and the filling unit is used for performing texture filling on the reference three-dimensional model according to the mapping relation to obtain a target three-dimensional model of the object to be modeled.
In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, a communication interface, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing steps in any method of the first aspect of the embodiment of the present application.
In a fourth aspect, the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, where the computer program makes a computer perform part or all of the steps described in any one of the methods of the first aspect of the present application.
In a fifth aspect, the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform some or all of the steps as described in any one of the methods of the first aspect of the embodiments of the present application. The computer program product may be a software installation package.
It can be seen that, in the embodiment of the application, an electronic device obtains a plurality of frames of two-dimensional images of an object to be modeled and a reference three-dimensional model, wherein the plurality of frames of two-dimensional images include an image of each surface of the object to be modeled, the reference three-dimensional model includes N triangular patches, M frames of two-dimensional images are selected from the plurality of frames of two-dimensional images, a mapping relation between the N triangular patches and the M frames of two-dimensional images is determined, and then texture filling is performed on the reference three-dimensional model according to the mapping relation, so that a target three-dimensional model of the object to be modeled is obtained. Therefore, the electronic equipment firstly screens the multi-frame two-dimensional images, carries out texture mapping according to the selected M-frame two-dimensional images, but not carries out texture mapping through all the two-dimensional images, and then carries out texture filling, so that the data volume of the texture mapping is reduced, the complexity of a texture filling algorithm is reduced, the texture filling efficiency is favorably improved, and the power consumption is reduced.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a software structure of an electronic device according to an embodiment of the present application;
fig. 3A is a schematic flowchart of a texture filling method for a three-dimensional model according to an embodiment of the present application;
fig. 3B is a schematic diagram of a triangular patch of a three-dimensional model surface according to an embodiment of the present disclosure;
FIG. 4 is a schematic flow chart of another texture filling method for a three-dimensional model according to an embodiment of the present disclosure;
FIG. 5 is a block diagram of a distributed functional unit of a texture filling apparatus for a three-dimensional model according to an embodiment of the present application;
fig. 6 is an integrated functional unit block diagram of a texture filling apparatus for a three-dimensional model according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.
In order to better understand the scheme of the embodiments of the present application, the following first introduces the related terms and concepts that may be involved in the embodiments of the present application.
1) The electronic device may be a portable electronic device, such as a cell phone, a tablet computer, a wearable electronic device with wireless communication capabilities (e.g., a smart watch), etc., that also contains other functionality, such as personal digital assistant and/or music player functionality. Exemplary embodiments of the portable electronic device include, but are not limited to, portable electronic devices that carry an IOS system, an Android system, a Microsoft system, or other operating system. The portable electronic device may also be other portable electronic devices such as a Laptop computer (Laptop) or the like. It should also be understood that in other embodiments, the electronic device may not be a portable electronic device, but may be a desktop computer.
2) Texture mapping is a process of establishing a corresponding relation between a three-dimensional object surface and a two-dimensional image space pixel coordinate, wherein the three-dimensional object surface is represented by a plurality of triangular patches, each triangular patch comprises three vertexes under a world coordinate system, and a two-dimensional image is a two-dimensional color image acquired by a color camera.
Fig. 1 shows a schematic structural diagram of an electronic device 100. The electronic device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a Universal Serial Bus (USB) interface 130, a charge management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, a sensor module 180, a compass 190, a motor 191, a pointer 192, a camera 193, a display screen 194, a Subscriber Identification Module (SIM) card interface 195, and the like.
It is to be understood that the illustrated structure of the embodiment of the present application does not specifically limit the electronic device 100. In other embodiments of the present application, electronic device 100 may include more or fewer components than shown, or some components may be combined, some components may be split, or a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
Processor 110 may include one or more processing units, such as: the processor 110 may include an Application Processor (AP), a modem processor, a Graphics Processor (GPU), an Image Signal Processor (ISP), a controller, a video codec, a Digital Signal Processor (DSP), a baseband processor, and/or a neural-Network Processing Unit (NPU), etc. Wherein the different processing units may be separate components or may be integrated in one or more processors. In some embodiments, the electronic device 100 may also include one or more processors 110. The controller can generate an operation control signal according to the instruction operation code and the time sequence signal to complete the control of instruction fetching and instruction execution. In other embodiments, a memory may also be provided in processor 110 for storing instructions and data. Illustratively, the memory in the processor 110 may be a cache memory. The memory may hold instructions or data that have just been used or recycled by the processor 110. If the processor 110 needs to reuse the instruction or data, it can be called directly from the memory. This avoids repeated accesses and reduces the latency of the processor 110, thereby increasing the efficiency with which the electronic device 100 processes data or executes instructions.
In some embodiments, processor 110 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit audio (I2S) interface, a Pulse Code Modulation (PCM) interface, a universal asynchronous receiver/transmitter (UART) interface, a Mobile Industry Processor Interface (MIPI), a general-purpose input/output (GPIO) interface, a SIM card interface, a USB interface, and/or the like. The USB interface 130 is an interface conforming to the USB standard specification, and may specifically be a Mini USB interface, a Micro USB interface, a USB Type C interface, or the like. The USB interface 130 may be used to connect a charger to charge the electronic device 100, and may also be used to transmit data between the electronic device 100 and a peripheral device. The USB interface 130 may also be used to connect to a headset to play audio through the headset.
It should be understood that the interface connection relationship between the modules illustrated in the embodiments of the present application is only an illustration, and does not limit the structure of the electronic device 100. In other embodiments of the present application, the electronic device 100 may also adopt different interface connection manners or a combination of multiple interface connection manners in the above embodiments.
The charging management module 140 is configured to receive charging input from a charger. The charger may be a wireless charger or a wired charger. In some wired charging embodiments, the charging management module 140 may receive charging input from a wired charger via the USB interface 130. In some wireless charging embodiments, the charging management module 140 may receive a wireless charging input through a wireless charging coil of the electronic device 100. The charging management module 140 may also supply power to the electronic device through the power management module 141 while charging the battery 142.
The power management module 141 is used to connect the battery 142, the charging management module 140 and the processor 110. The power management module 141 receives input from the battery 142 and/or the charge management module 140, and supplies power to the processor 110, the internal memory 121, the external memory, the display 194, the camera 193, the wireless communication module 160, and the like. The power management module 141 may also be used to monitor parameters such as battery capacity, battery cycle count, battery state of health (leakage, impedance), etc. In some other embodiments, the power management module 141 may also be disposed in the processor 110. In other embodiments, the power management module 141 and the charging management module 140 may be disposed in the same device.
The wireless communication function of the electronic device 100 may be implemented by the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, a modem processor, a baseband processor, and the like.
The antennas 1 and 2 are used for transmitting and receiving electromagnetic wave signals. Each antenna in the electronic device 100 may be used to cover a single or multiple communication bands. Different antennas can also be multiplexed to improve the utilization of the antennas. For example: the antenna 1 may be multiplexed as a diversity antenna of a wireless local area network. In other embodiments, the antenna may be used in conjunction with a tuning switch.
The mobile communication module 150 may provide a solution including 2G/3G/4G/5G wireless communication applied to the electronic device 100. The mobile communication module 150 may include at least one filter, a switch, a power amplifier, a Low Noise Amplifier (LNA), and the like. The mobile communication module 150 may receive the electromagnetic wave from the antenna 1, filter, amplify, etc. the received electromagnetic wave, and transmit the electromagnetic wave to the modem processor for demodulation. The mobile communication module 150 may also amplify the signal modulated by the modem processor, and convert the signal into electromagnetic wave through the antenna 1 to radiate the electromagnetic wave. In some embodiments, at least some of the functional modules of the mobile communication module 150 may be disposed in the processor 110. In some embodiments, at least some of the functional modules of the mobile communication module 150 may be disposed in the same device as at least some of the modules of the processor 110.
The wireless communication module 160 may provide a solution for wireless communication applied to the electronic device 100, including Wireless Local Area Networks (WLANs) (such as wireless fidelity (Wi-Fi) networks), bluetooth (bluetooth), Global Navigation Satellite System (GNSS), Frequency Modulation (FM), Near Field Communication (NFC), Infrared (IR), and the like. The wireless communication module 160 may be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, performs frequency modulation and filtering processing on electromagnetic wave signals, and transmits the processed signals to the processor 110. The wireless communication module 160 may also receive a signal to be transmitted from the processor 110, perform frequency modulation and amplification on the signal, and convert the signal into electromagnetic waves through the antenna 2 to radiate the electromagnetic waves.
The electronic device 100 implements display functions via the GPU, the display screen 194, and the application processor. The GPU is a microprocessor for image processing, and is connected to the display screen 194 and an application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 110 may include one or more GPUs that execute program instructions to generate or alter display information.
The display screen 194 is used to display images, videos, and the like. The display screen 194 includes a display panel. The display panel may be a Liquid Crystal Display (LCD), an organic light-emitting diode (OLED), an active matrix organic light-emitting diode (active-matrix organic light-emitting diode (AMOLED)), a flexible light-emitting diode (FLED), a mini light-emitting diode (mini-light-emitting diode (mini), a Micro-o led, a quantum dot light-emitting diode (QLED), or the like. In some embodiments, the electronic device 100 may include 1 or more display screens 194.
The electronic device 100 may implement a photographing function through the ISP, the camera 193, the video codec, the GPU, the display screen 194, the application processor, and the like.
The ISP is used to process the data fed back by the camera 193. For example, when a photo is taken, the shutter is opened, light is transmitted to the camera photosensitive element through the lens, the optical signal is converted into an electrical signal, and the camera photosensitive element transmits the electrical signal to the ISP for processing and converting into an image visible to naked eyes. The ISP can also carry out algorithm optimization on the noise, brightness and skin color of the image. The ISP can also optimize parameters such as exposure, color temperature and the like of a shooting scene. In some embodiments, the ISP may be provided in camera 193.
The camera 193 is used to capture still images or video. The object generates an optical image through the lens and projects the optical image to the photosensitive element. The photosensitive element may be a Charge Coupled Device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The light sensing element converts the optical signal into an electrical signal, which is then passed to the ISP where it is converted into a digital image signal. And the ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into image signal in standard RGB, YUV and other formats. In some embodiments, the electronic device 100 may include 1 or more cameras 193.
The digital signal processor is used for processing digital signals, and can process digital image signals and other digital signals. For example, when the electronic device 100 selects a frequency bin, the digital signal processor is used to perform fourier transform or the like on the frequency bin energy.
Video codecs are used to compress or decompress digital video. The electronic device 100 may support one or more video codecs. In this way, the electronic device 100 may play or record video in a variety of encoding formats, such as: moving Picture Experts Group (MPEG) 1, MPEG2, MPEG3, MPEG4, and the like.
The NPU is a neural-network (NN) computing processor that processes input information quickly by using a biological neural network structure, for example, by using a transfer mode between neurons of a human brain, and can also learn by itself continuously. Applications such as intelligent recognition of the electronic device 100 can be realized through the NPU, for example: image recognition, face recognition, speech recognition, text understanding, and the like.
The external memory interface 120 may be used to connect an external memory card, such as a Micro SD card, to extend the memory capability of the electronic device 100. The external memory card communicates with the processor 110 through the external memory interface 120 to implement a data storage function. For example, files such as music, video, etc. are saved in an external memory card.
Internal memory 121 may be used to store one or more computer programs, including instructions. The processor 110 may execute the above-mentioned instructions stored in the internal memory 121, so as to enable the electronic device 100 to execute the method for displaying page elements provided in some embodiments of the present application, and various applications and data processing. The internal memory 121 may include a program storage area and a data storage area. Wherein, the storage program area can store an operating system; the storage program area may also store one or more applications (e.g., gallery, contacts, etc.), and the like. The storage data area may store data (e.g., photos, contacts, etc.) created during use of the electronic device 100, and the like. Further, the internal memory 121 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic disk storage components, flash memory components, Universal Flash Storage (UFS), and the like. In some embodiments, the processor 110 may cause the electronic device 100 to execute the method for displaying page elements provided in the embodiments of the present application and other applications and data processing by executing instructions stored in the internal memory 121 and/or instructions stored in a memory provided in the processor 110. The electronic device 100 may implement audio functions through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the earphone interface 170D, and the application processor, etc. Such as music playing, recording, etc.
The sensor module 180 may include a pressure sensor 180A, a gyro sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, and the like.
The pressure sensor 180A is used for sensing a pressure signal, and converting the pressure signal into an electrical signal. In some embodiments, the pressure sensor 180A may be disposed on the display screen 194. The pressure sensor 180A can be of a wide variety, such as a resistive pressure sensor, an inductive pressure sensor, a capacitive pressure sensor, and the like. The capacitive pressure sensor may be a sensor comprising at least two parallel plates having an electrically conductive material. When a force acts on the pressure sensor 180A, the capacitance between the electrodes changes. The electronic device 100 determines the strength of the pressure from the change in capacitance. When a touch operation is applied to the display screen 194, the electronic apparatus 100 detects the intensity of the touch operation according to the pressure sensor 180A. The electronic apparatus 100 may also calculate the touched position from the detection signal of the pressure sensor 180A. In some embodiments, the touch operations that are applied to the same touch position but different touch operation intensities may correspond to different operation instructions. For example: and when the touch operation with the touch operation intensity smaller than the first pressure threshold value acts on the short message application icon, executing an instruction for viewing the short message. And when the touch operation with the touch operation intensity larger than or equal to the first pressure threshold value acts on the short message application icon, executing an instruction of newly building the short message.
The gyro sensor 180B may be used to determine the motion attitude of the electronic device 100. In some embodiments, the angular velocity of electronic device 100 about three axes (i.e., X, Y and the Z axis) may be determined by gyroscope sensor 180B. The gyro sensor 180B may be used for photographing anti-shake. For example, when the shutter is pressed, the gyro sensor 180B detects a shake angle of the electronic device 100, calculates a distance to be compensated for by the lens module according to the shake angle, and allows the lens to counteract the shake of the electronic device 100 through a reverse movement, thereby achieving anti-shake. The gyroscope sensor 180B may also be used for navigation, somatosensory gaming scenes.
The acceleration sensor 180E may detect the magnitude of acceleration of the electronic device 100 in various directions (typically three axes). The magnitude and direction of gravity can be detected when the electronic device 100 is stationary. The method can also be used for recognizing the posture of the electronic equipment, and is applied to horizontal and vertical screen switching, pedometers and other applications.
The ambient light sensor 180L is used to sense the ambient light level. Electronic device 100 may adaptively adjust the brightness of display screen 194 based on the perceived ambient light level. The ambient light sensor 180L may also be used to automatically adjust the white balance when taking a picture. The ambient light sensor 180L may also cooperate with the proximity light sensor 180G to detect whether the electronic device 100 is in a pocket to prevent accidental touches.
The fingerprint sensor 180H is used to collect a fingerprint. The electronic device 100 can utilize the collected fingerprint characteristics to unlock the fingerprint, access the application lock, photograph the fingerprint, answer an incoming call with the fingerprint, and so on.
The temperature sensor 180J is used to detect temperature. In some embodiments, electronic device 100 implements a temperature processing strategy using the temperature detected by temperature sensor 180J. For example, when the temperature reported by the temperature sensor 180J exceeds a threshold, the electronic device 100 performs a reduction in performance of a processor located near the temperature sensor 180J, so as to reduce power consumption and implement thermal protection. In other embodiments, the electronic device 100 heats the battery 142 when the temperature is below another threshold to avoid the low temperature causing the electronic device 100 to shut down abnormally. In other embodiments, when the temperature is lower than a further threshold, the electronic device 100 performs boosting on the output voltage of the battery 142 to avoid abnormal shutdown due to low temperature.
The touch sensor 180K is also referred to as a "touch panel". The touch sensor 180K may be disposed on the display screen 194, and the touch sensor 180K and the display screen 194 form a touch screen, which is also called a "touch screen". The touch sensor 180K is used to detect a touch operation applied thereto or nearby. The touch sensor can communicate the detected touch operation to the application processor to determine the touch event type. Visual output associated with the touch operation may be provided through the display screen 194. In other embodiments, the touch sensor 180K may be disposed on a surface of the electronic device 100, different from the position of the display screen 194.
Fig. 2 is a block diagram of a software structure of the electronic device 100 according to the embodiment of the present application. The layered architecture divides the software into several layers, each layer having a clear role and division of labor. The layers communicate with each other through a software interface. In some embodiments, the Android system is divided into four layers, an application layer, an application framework layer, an Android runtime (Android runtime) and system library, and a kernel layer from top to bottom. The application layer may include a series of application packages.
As shown in fig. 2, the application package may include applications such as camera, gallery, calendar, phone call, map, navigation, WLAN, bluetooth, music, video, short message, etc.
The application framework layer provides an Application Programming Interface (API) and a programming framework for the application programs of the application layer. The application framework layer includes a number of predefined functions.
As shown in FIG. 2, the application framework layers may include a window manager, content provider, view system, phone manager, resource manager, notification manager, and the like.
The window manager is used for managing window programs. The window manager can obtain the size of the display screen, judge whether a status bar exists, lock the screen, intercept the screen and the like.
The content provider is used to store and retrieve data and make it accessible to applications. The data may include video, images, audio, calls made and received, browsing history and bookmarks, phone books, etc.
The view system includes visual controls such as controls to display text, controls to display pictures, and the like. The view system may be used to build applications. The display interface may be composed of one or more views. For example, the display interface including the short message notification icon may include a view for displaying text and a view for displaying pictures.
The phone manager is used to provide communication functions of the electronic device 100. Such as management of call status (including on, off, etc.).
The resource manager provides various resources for the application, such as localized strings, icons, pictures, layout files, video files, and the like.
The notification manager enables the application to display notification information in the status bar, can be used to convey notification-type messages, can disappear automatically after a short dwell, and does not require user interaction. Such as a notification manager used to inform download completion, message alerts, etc. The notification manager may also be a notification that appears in the form of a chart or scroll bar text at the top status bar of the system, such as a notification of a background running application, or a notification that appears on the screen in the form of a dialog window. For example, prompting text information in the status bar, sounding a prompt tone, vibrating the electronic device, flashing an indicator light, etc.
The Android Runtime comprises a core library and a virtual machine. The Android runtime is responsible for scheduling and managing an Android system.
The core library comprises two parts: one part is a function which needs to be called by java language, and the other part is a core library of android.
The application layer and the application framework layer run in a virtual machine. And executing java files of the application program layer and the application program framework layer into a binary file by the virtual machine. The virtual machine is used for performing the functions of object life cycle management, stack management, thread management, safety and exception management, garbage collection and the like.
The system library may include a plurality of functional modules. For example: surface managers (surface managers), media libraries (media libraries), three-dimensional graphics processing libraries (e.g., OpenGL ES), 2D graphics engines (e.g., SGL), and the like.
The surface manager is used to manage the display subsystem and provide fusion of 2D and 3D layers for multiple applications.
The media library supports a variety of commonly used audio, video format playback and recording, and still image files, among others. The media library may support a variety of audio-video encoding formats, such as: MPEG4, H.264, MP3, AAC, AMR, JPG, PNG, etc.
The three-dimensional graphic processing library is used for realizing three-dimensional graphic drawing, image rendering, synthesis, layer processing and the like.
The 2D graphics engine is a drawing engine for 2D drawing.
The kernel layer is a layer between hardware and software. The inner core layer at least comprises a display driver, a camera driver, an audio driver and a sensor driver.
The following describes embodiments of the present application in detail.
Referring to fig. 3A, fig. 3A is a schematic flowchart of a texture filling method for a three-dimensional model applied to an electronic device according to an embodiment of the present application.
S301, the electronic equipment acquires a multi-frame two-dimensional image and a reference three-dimensional model of an object to be modeled, wherein the multi-frame two-dimensional image comprises an image of each surface of the object to be modeled, the reference three-dimensional model comprises N triangular patches, and N is a positive integer;
the triangular patches include three vertices in the world coordinate system, and as shown in fig. 3B, the reference three-dimensional model surface of the object to be modeled is formed by a large number of triangular patches.
The multi-frame two-dimensional image is a two-dimensional color image, and the multi-frame two-dimensional image may be acquired by the electronic device at various positions around the object to be modeled through a drawing acquisition device (e.g., a color camera), for example, the drawing acquisition device acquires the multi-frame two-dimensional image around the object to be modeled on a plurality of circles with a first group of values as a radius and with the object to be modeled as a center of a circle.
The reference three-dimensional model may be a model constructed according to the multiple frames of two-dimensional images, may also be a model constructed according to multiple frames of two-dimensional depth images acquired by a depth camera, or may be a model constructed according to the multiple frames of two-dimensional images and the multiple frames of two-dimensional depth images, which is not limited herein.
S302, the electronic equipment selects M frames of two-dimensional images from the multiple frames of two-dimensional images, wherein M is a positive integer smaller than N;
the specific implementation manner of selecting the M frames of two-dimensional images from the multiple frames of two-dimensional images by the electronic device may be various, for example, the multiple frames of two-dimensional images may be divided into multiple groups of two-dimensional images according to an angle of the image capturing device when the two-dimensional images are captured, and at least one two-dimensional image with the highest resolution may be selected from each group of two-dimensional images, or at least one two-dimensional image shot when the image capturing device is closest to the object to be modeled may be selected from each group of two-dimensional images, which is not limited herein.
S303, the electronic equipment determines the mapping relation between the N triangular patches and the M frames of two-dimensional images.
Each frame of the two-dimensional image may correspond to one or more triangular patches, which is not limited herein.
S304, the electronic equipment carries out texture filling on the reference three-dimensional model according to the mapping relation to obtain a target three-dimensional model of the object to be modeled.
It can be seen that, in the embodiment of the application, an electronic device obtains a plurality of frames of two-dimensional images of an object to be modeled and a reference three-dimensional model, the plurality of frames of two-dimensional images include an image of each surface of the object to be modeled, the reference three-dimensional model includes N triangular patches, M frames of two-dimensional images are selected from the plurality of frames of two-dimensional images, a mapping relation between the N triangular patches and the M frames of two-dimensional images is determined, and then texture filling is performed on the reference three-dimensional model according to the mapping relation, so that a target three-dimensional model of the object to be modeled is obtained. Therefore, the electronic equipment firstly screens the multi-frame two-dimensional images, carries out texture mapping according to the selected M-frame two-dimensional images, but not carries out texture mapping through all the two-dimensional images, and then carries out texture filling, so that the data volume of the texture mapping is reduced, the complexity of a texture filling algorithm is reduced, the texture filling efficiency is favorably improved, and the power consumption is reduced.
In one possible example, the selecting M frames of two-dimensional images from the plurality of frames of two-dimensional images includes:
grouping the multiple frames of two-dimensional images according to preset parameters to obtain multiple groups of two-dimensional images;
and selecting at least one two-dimensional image from each group of two-dimensional images to obtain the M frames of two-dimensional images.
The preset parameter may be shooting time or a position parameter when a two-dimensional image is acquired, and the position parameter is a relative position parameter between the acquisition device and an object to be modeled in a world coordinate system, which is not limited herein.
When the preset parameter is shooting time, the electronic device may determine a plurality of time periods, and divide the two-dimensional images shot in each time period into one group, for example, the electronic device determines that every two seconds is one time period, and divides the two-dimensional images shot in each time period into one group; when the preset parameter is a position parameter, the electronic device may determine a plurality of position areas, and divide the two-dimensional images acquired by the image acquisition device in each area into a group, which is not limited herein.
It can be seen that, in this example, when the electronic device selects M frames of two-dimensional images from multiple frames of two-dimensional images, the multiple frames of two-dimensional images are grouped according to preset parameters, so that the preset parameters corresponding to each group of two-dimensional images are close to each other, and then redundant frames in each group of two-dimensional images are excluded, which is beneficial to improving the rationality and effectiveness of two-dimensional image selection and avoiding affecting the texture mapping.
In this possible example, the selecting at least one two-dimensional image in each group of two-dimensional images to obtain the M frames of two-dimensional images includes:
calculating the coordinates of the center point of the object to be modeled according to a first formula;
determining a first distance from each two-dimensional image in the plurality of frames of two-dimensional images to the center point of the object to be modeled;
and selecting the two-dimensional image with the minimum first distance from each group of two-dimensional images to obtain the M frames of two-dimensional images.
In this possible example, the first formula is:
the first distance from each two-dimensional image to the center point of the object to be modeled is as follows:
wherein v isc(xc,yc,zc) The coordinates of the center point of the object to be modeled are obtained; v. ofi0(xi0,yi0,zi0)、vi1(xi1,yi1,zi1)、vi2(xi2,yi2,zi2) World coordinates of three vertexes of the ith triangular patch are respectively, wherein i is a positive integer less than or equal to N; v. ofj(xj,yj,zj) And j is a positive integer, and is an optical center position coordinate of the image acquisition device when the image acquisition device acquires a jth frame of image in a plurality of frames of two-dimensional images.
The first distance from each two-dimensional image to the center point of the object to be modeled can be calculated through the distance from the optical center position of the image acquisition device to the center point of the object to be modeled when the two-dimensional image is acquired.
And calculating the mean coordinate of the central points of the N triangular patches as the coordinate of the central point of the object to be modeled.
Therefore, in this example, the electronic device selects the M frames of two-dimensional images with the shortest first distance according to the first distance from each frame of two-dimensional image to the center point of the object to be modeled, which is beneficial to ensuring the texture abundance degree of the selected M frames of two-dimensional images, and further improves the texture filling effect.
In one possible example, the determining a mapping relationship between the N triangular patches and the M-frame two-dimensional image includes:
respectively mapping regions on the M two-dimensional images according to the N triangular patches to obtain Q region blocks on the M two-dimensional images, wherein Q is a positive integer;
and determining the mapping relation corresponding to the minimum value of the energy function as the mapping relation between the N triangular patches and the Q area blocks by performing iterative optimization on the energy function.
The electronic equipment determines at least one triangular patch corresponding to each two-dimensional image according to surface information of an object to be modeled, which is shot by the image collecting device when each two-dimensional image is collected, and then determines Q area blocks on the M two-dimensional images by referring to inverse mapping of three vertexes of each triangular patch on the three-dimensional model on the corresponding two-dimensional image.
The energy function may be a Markov Random Field (MFP) energy function, and when the energy value of the energy function is minimum, the system reaches an optimal state.
And the iterative optimization process is a process that the electronic equipment finally enables the energy value of the energy function to reach the minimum value by changing the mapping relation between the N triangular patches and the Q area blocks every time, and when the energy value is the minimum value, the iterative optimization is finished.
As can be seen, in this example, the electronic device performs iterative optimization on the energy function to obtain the mapping relationships between the N triangular patches and the Q region blocks when the energy value of the energy function is minimized, and the mapping relationships are used as the mapping relationships for texture filling, which is beneficial to ensuring the effect of the target three-dimensional model.
In one possible example, the energy function is:
wherein the data item EdataFor measuring the area block lpMapped on the triangular patch FaTexture information richness at run-up, smoothing term EsmoothFor measuring model surface FaAnd FbThe color consistency of the texture image gaps corresponding to two adjacent triangular surface patches; when the area block lpMapped on the triangular patch FaAnd region block lqMapped on the triangular patch FbWhen doing so, if lpAnd lqIs the same region block, then the EsmoothIs a first value ifpAnd lqFor different region blocks, then EsmoothIs a second value, the first value is smaller than the second value, p and Q are positive integers smaller than or equal to Q, and a and b are positive integers smaller than or equal to N.
The first value may be 0, and the second value may be 1, which is not limited herein.
In this possible example, the data item EdataUsing the angle term cost function:
wherein the content of the first and second substances,
for acquiring a region block lpThe included angle between the viewpoint sight line of the image acquisition device and the texture sight line during the corresponding two-dimensional image,
for a triangular patch FaAlpha is a weight factor, and the texture sight line is the optical center of the image acquisition device and a triangular patch FaThe line between the centers.
As can be seen, in this example, the electronic device judges the richness of the mapped texture information and the consistency of the colors of the gaps between the adjacent triangular patches through an energy function formed by the data item and the smooth item, and determines the data item through the angle item, so that the finally obtained mapping relationship result is that a proper texture image is selected from the optimal label viewing angle and the observation viewing angle, which is beneficial to reducing the texture shift phenomenon caused by the model error and improving the texture richness and smoothness of the three-dimensional model.
Referring to fig. 4, fig. 4 is a schematic flowchart illustrating another texture filling method for a three-dimensional model according to an embodiment of the present disclosure, where the texture filling method for a three-dimensional model can be applied to an electronic device. As shown in the figure, the texture filling method for the three-dimensional model comprises the following operations:
s401, the electronic equipment obtains a multi-frame two-dimensional image and a reference three-dimensional model of an object to be modeled, wherein the multi-frame two-dimensional image comprises an image of each surface of the object to be modeled, the reference three-dimensional model comprises N triangular patches, and N is a positive integer.
S402, the electronic equipment groups the multiple frames of two-dimensional images according to a preset angle to obtain multiple groups of two-dimensional images.
S403, the electronic equipment calculates the coordinates of the center point of the object to be modeled according to a first formula.
S404, the electronic equipment determines a first distance from each two-dimensional image in the plurality of frames of two-dimensional images to the center point of the object to be modeled.
S405, the electronic equipment selects the two-dimensional image with the minimum first distance from each group of two-dimensional images to obtain M frames of two-dimensional images.
S406, the electronic equipment respectively maps the regions of the M two-dimensional images according to the N triangular patches to obtain Q region blocks of the M two-dimensional images, wherein Q is a positive integer.
S407, the electronic device determines, through iterative optimization of an energy function, that a mapping relationship corresponding to a minimum value of the energy function is a mapping relationship between the N triangular patches and the Q region blocks.
S408, the electronic equipment carries out texture filling on the reference three-dimensional model according to the mapping relation to obtain a target three-dimensional model of the object to be modeled.
It can be seen that, in the embodiment of the application, an electronic device obtains a plurality of frames of two-dimensional images of an object to be modeled and a reference three-dimensional model, the plurality of frames of two-dimensional images include an image of each surface of the object to be modeled, the reference three-dimensional model includes N triangular patches, M frames of two-dimensional images are selected from the plurality of frames of two-dimensional images, a mapping relation between the N triangular patches and the M frames of two-dimensional images is determined, and then texture filling is performed on the reference three-dimensional model according to the mapping relation, so that a target three-dimensional model of the object to be modeled is obtained. Therefore, the electronic equipment firstly screens the multi-frame two-dimensional images, carries out texture mapping according to the selected M-frame two-dimensional images, but not carries out texture mapping through all the two-dimensional images, and then carries out texture filling, so that the data volume of the texture mapping is reduced, the complexity of a texture filling algorithm is reduced, the texture filling efficiency is favorably improved, and the power consumption is reduced.
In addition, the electronic equipment selects the M frames of two-dimensional images with the shortest first distance according to the first distance from each frame of two-dimensional image to the central point of the object to be modeled, so that the texture richness degree of the selected M frames of two-dimensional images is favorably ensured, and the texture filling effect is further improved.
In addition, the electronic equipment obtains the mapping relation between the N triangular patches and the Q region blocks when the energy value of the energy function is minimum by performing iterative optimization on the energy function, and the mapping relation is used as a mapping relation of texture filling, so that the effect of the target three-dimensional model is favorably ensured.
The embodiment of the present application provides a texture filling apparatus for a three-dimensional model, which may be an electronic device 100. Specifically, the texture filling device for three-dimensional models is used for executing the steps of the texture filling method for three-dimensional models. The texture filling device for the three-dimensional model provided by the embodiment of the application can comprise modules corresponding to the corresponding steps.
In the embodiment of the present application, the texture filling apparatus of the three-dimensional model may be divided into functional modules according to the above method, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The division of the modules in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation.
Fig. 5 shows a possible structure diagram of the texture filling apparatus for a three-dimensional model according to the above embodiment, in the case of dividing each functional module according to each function. As shown in fig. 5, the texture filling apparatus 500 for three-dimensional model includes an obtaining unit 501, a selecting unit 502, a determining unit 503, and a filling unit 504, wherein:
the acquiring unit 501 is configured to acquire a multi-frame two-dimensional image of an object to be modeled and a reference three-dimensional model, where the multi-frame two-dimensional image includes an image of each surface of the object to be modeled, the reference three-dimensional model includes N triangular patches, and N is a positive integer;
the selecting unit 502 is configured to select M frames of two-dimensional images from the multiple frames of two-dimensional images, where M is a positive integer smaller than N;
the determining unit 503 is configured to determine a mapping relationship between the N triangular patches and the M-frame two-dimensional image;
the filling unit 504 is configured to perform texture filling on the reference three-dimensional model according to the mapping relationship, so as to obtain a target three-dimensional model of the object to be modeled.
All relevant contents of each step related to the above method embodiment may be referred to the functional description of the corresponding functional module, and are not described herein again. Of course, the texture filling apparatus for three-dimensional models provided in the embodiments of the present application includes, but is not limited to, the above modules, for example: the texture filling apparatus for a three-dimensional model may further include a storage unit. The memory unit may be adapted to store program code and data of the texture filling means of the three-dimensional model.
In the case of using an integrated unit, a schematic structural diagram of a texture filling apparatus for a three-dimensional model provided in an embodiment of the present application is shown in fig. 6. In fig. 6, the texture filling apparatus 600 for a three-dimensional model includes: a processing module 602 and a communication module 601. The processing module 602 is used for controlling and managing actions of the texture filling apparatus of the three-dimensional model, for example, executing steps performed by the determining unit 501, the selecting unit 502 and the filling unit 503, and/or other processes for performing the techniques described herein. The communication module 601 is used for supporting the interaction between the texture filling device of the three-dimensional model and other equipment or between internal modules of the texture filling device of the three-dimensional model. As shown in fig. 6, the texture filling apparatus for three-dimensional model may further include a storage module 603, and the storage module 603 is used for storing program codes and data of the texture filling apparatus for three-dimensional model, for example, storing contents stored in the storage unit.
The processing module 602 may be a Processor or a controller, and may be, for example, a Central Processing Unit (CPU), a general-purpose Processor, a Digital Signal Processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs, and microprocessors, among others. The communication module 601 may be a transceiver, a radio frequency circuit or a communication interface, etc. The storage module 603 may be a memory.
All relevant contents of each scene related to the method embodiment may be referred to the functional description of the corresponding functional module, and are not described herein again. The texture filling apparatus 500 and the texture filling apparatus 600 for three-dimensional models may each perform the texture filling method for three-dimensional models shown in any one of fig. 3A to 4.
The present embodiment also provides a computer storage medium, where computer instructions are stored, and when the computer instructions are run on an electronic device, the electronic device is caused to execute the above related method steps to implement the operation method in the above embodiment.
The present embodiment also provides a computer program product, which when run on a computer, causes the computer to execute the above related steps to implement the texture filling method of the three-dimensional model in the above embodiments.
In addition, embodiments of the present application also provide an apparatus, which may be specifically a chip, a component or a module, and may include a processor and a memory connected to each other; the memory is used for storing computer execution instructions, and when the device runs, the processor can execute the computer execution instructions stored in the memory, so that the chip can execute the texture filling method of the three-dimensional model in the above-mentioned method embodiments.
The electronic device, the computer storage medium, the computer program product, or the chip provided in this embodiment are all configured to execute the corresponding method provided above, so that the beneficial effects achieved by the electronic device, the computer storage medium, the computer program product, or the chip may refer to the beneficial effects in the corresponding method provided above, and are not described herein again.
Through the description of the above embodiments, those skilled in the art will understand that, for convenience and simplicity of description, only the division of the above functional modules is used as an example, and in practical applications, the above function distribution may be completed by different functional modules as needed, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the above described functions.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, a module or a unit may be divided into only one logic function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another apparatus, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may be one physical unit or a plurality of physical units, may be located in one place, or may be distributed to a plurality of different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially or partially contributed to by the prior art, or all or part of the technical solutions may be embodied in the form of a software product, where the software product is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A texture filling method of a three-dimensional model is applied to an electronic device, and the method comprises the following steps:
acquiring a multi-frame two-dimensional image and a reference three-dimensional model of an object to be modeled, wherein the multi-frame two-dimensional image comprises an image of each surface of the object to be modeled, the reference three-dimensional model comprises N triangular patches, and N is a positive integer;
selecting M frames of two-dimensional images from the multiple frames of two-dimensional images, wherein M is a positive integer smaller than N;
determining the mapping relation between the N triangular patches and the M frames of two-dimensional images;
and filling the reference three-dimensional model with textures according to the mapping relation to obtain a target three-dimensional model of the object to be modeled.
2. The method according to claim 1, wherein said selecting M frames of two-dimensional images from said plurality of frames of two-dimensional images comprises:
grouping the multiple frames of two-dimensional images according to preset parameters to obtain multiple groups of two-dimensional images;
and selecting at least one two-dimensional image from each group of two-dimensional images to obtain the M frames of two-dimensional images.
3. The method according to claim 2, wherein said selecting at least one two-dimensional image in each group of two-dimensional images to obtain the M frames of two-dimensional images comprises:
calculating the coordinates of the center point of the object to be modeled according to a first formula;
determining a first distance from each two-dimensional image in the plurality of frames of two-dimensional images to the center point of the object to be modeled;
and selecting the two-dimensional image with the minimum first distance from each group of two-dimensional images to obtain the M frames of two-dimensional images.
4. The method of claim 3, wherein the first formula is:
the first distance from each two-dimensional image to the center point of the object to be modeled is as follows:
wherein v isc(xc,yc,zc) The coordinates of the center point of the object to be modeled are obtained; v. ofi0(xi0,yi0,zi0)、vi1(xi1,yi1,zi1)、vi2(xi2,yi2,zi2) World coordinates of three vertexes of the ith triangular patch are respectively, wherein i is a positive integer less than or equal to N; v. ofj(xj,yj,zj) And j is a positive integer, and is an optical center position coordinate of the image acquisition device when the image acquisition device acquires a jth frame of image in a plurality of frames of two-dimensional images.
5. The method according to any one of claims 1-4, wherein the determining the mapping relationship between the N triangular patches and the M-frame two-dimensional image comprises:
respectively mapping regions on the M two-dimensional images according to the N triangular patches to obtain Q region blocks on the M two-dimensional images, wherein Q is a positive integer;
and determining the mapping relation corresponding to the minimum value of the energy function as the mapping relation between the N triangular patches and the Q area blocks by performing iterative optimization on the energy function.
6. The method of claim 5, wherein the energy function is:
wherein the data item EdataFor measuring the area block lpMapped on the triangular patch FaTexture information richness at run-up, smoothing term EsmoothFor measuring model surface FaAnd FbTwo adjacent triangular patch pairsThe color consistency of the texture image gaps is ensured; when the area block lpMapped on the triangular patch FaAnd region block lqMapped on the triangular patch FbWhen doing so, if lpAnd lqIs the same region block, then the EsmoothIs a first value ifpAnd lqFor different region blocks, then EsmoothIs a second value, the first value is smaller than the second value, p and Q are positive integers smaller than or equal to Q, and a and b are positive integers smaller than or equal to N.
7. Method according to claim 5 or 6, characterized in that said data item EdataUsing the angle term cost function:
wherein the content of the first and second substances,
for acquiring a region block lpThe included angle between the viewpoint sight line of the image acquisition device and the texture sight line during the corresponding two-dimensional image,
for a triangular patch FaAlpha is a weight factor, and the texture sight line is the optical center of the image acquisition device and a triangular patch FaThe line between the centers.
8. The texture filling device of the three-dimensional model is applied to electronic equipment and comprises an acquisition unit, a selection unit, a determination unit and a filling unit, wherein:
the acquisition unit is used for acquiring a multi-frame two-dimensional image and a reference three-dimensional model of an object to be modeled, wherein the multi-frame two-dimensional image comprises an image of each surface of the object to be modeled, the reference three-dimensional model comprises N triangular patches, and N is a positive integer;
the selecting unit is used for selecting M frames of two-dimensional images from the multiple frames of two-dimensional images, wherein M is a positive integer smaller than N;
the determining unit is configured to determine a mapping relationship between the N triangular patches and the M frames of two-dimensional images;
and the filling unit is used for performing texture filling on the reference three-dimensional model according to the mapping relation to obtain a target three-dimensional model of the object to be modeled.
9. An electronic device comprising a processor, a memory, a communication interface, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps in the method of any of claims 1-7.
10. A computer-readable storage medium, characterized in that a computer program for electronic data exchange is stored, wherein the computer program causes a computer to perform the method according to any one of claims 1-7.
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